Short trip city car - How often to take it for a highway jaunt to burn off condensation / carbon?

I live in a very urban area and work remotely. As such my car only gets driven once every week or so and when it is driven, it is usually only to somewhere a few miles away. I know this is not good for the car. How often should I take it on the highway for to warm things up and keep things in good working order? Is once a month enough?

Thanks