We had this in the BTCC when tyre warmers were banned for the 2000 season, the doom mongers were predicting chaos and confusion but teams and drivers soon got used to operating without them.
Of course F1 is at a higher level, but equally has more downforce and technology to keep the car pointing forwards. You could argue that driving with the available grip is part of the skill of a driver and certainly several drivers have shown themselves to be good at driving on cold tyres in other series.
In terms of cost, having warmers is pence in F1 terms, teams probably spend more on pot plants for the motorhomes. As for safety, that is well covered by the other contributors to the thread.
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