I've wondered about that question. If finding the minimum necessary speed to start I suppose one would first make the machine as cold as the coldest weather expected, then experiment with cold-starts at gradually increasing speeds. I expect the relationship is roughly linear until one gets close to the cloud point of the fuel.
I guess, if spinning the thing as slowly as possible and still getting it to start is the goal, then the starter speed ought to be regulated according to the temperature. This is a goal?
This question, necessary speed, strikes me as mildly interesting but practically more or less unimportant because it is a simple matter to spin the engine up to rated speed with an electric motor. That ought to permit starts in the worst weather that the engine can start in, unless the engine were pre-heated in some way.
Because the governor and fuel rack would see this speed as full speed the injection rate at the beginning of engine self-operation would be minimal, thus minimizing, one would expect, cold start emissions.
The large diesels I have worked with, whether they use a compression relaese or not, spin up very fast. The Enterprise engines I have worked on actually ran on compressed air at rated speed - the air being admitted to each cylinder by a timed pilot valve distributor and relay valves in each head. Those are 500 hp per cylinder. Takes a big air tank.... The EMD 16 and 20's, 12 V 92's....electric motor starter, big 'un, and they lit off fast!
It strikes me as just as much work to build a gizmo to spin an engine slowly as it is to spin one fast.
Just my hunch here, based on some long ago experience, but I think the stress on the piston and rings is less when the engine is started, the pump control moved to "run", after the engine is at or near rated speed. My hunch? What was I doing? I was a kid back in 1965 trying to find out how slowly I could crank a horizontal single cylinder diesel and still get it to start - and I managed to break some rings and create a reall expensive mess. That was the generator at Monument Valley Ranger Station, the Tribe ate the cost, lucky me!