It isn’t that easy to know when to warm up Rogers early in the game. Do you start warming him at the start of the inning? After two base runners? A run scored? At any of those times they may also have survived the inning. It is going to take a few batters to be ready. Maybe they get out if it. Do you them warm him up again later in the game?
Increasing the warm ups is going to wear in the arm. If they warm him up they really need to get him in instead of sitting and warming up a few innings later. Absent of hindsight it is really hard to know the best time. You always need to look ahead two or three batters.
You warm him up instead of Vasquez.
And yes, that may mean you have to warm him up again later.
Unless a guy is coming off an injury, I don't think you can make it a policy that they never warm up more than once.