To clarify these aspects I suggest two papers to read:
Optimizing the "priming" effect: influence of prior exercise intensity and recovery duration on O2 uptake kinetics and severe-intensity exercise tolerance.
J Appl Physiol (1985). 2009 Dec;107(6):1743-56.
Effects of priming exercise on VO2 kinetics and the power-duration relationship.
Med Sci Sports Exerc. 2011 Nov;43(11):2171-9.
The optimal intensity will depend on sport, "transition phase" prior to competition and the variable measure. See the next review.
McGowan, C. J., Pyne, D. B., Thompson, K. G., & Rattray, B. (2015). Warm-Up Strategies for Sport and Exercise: Mechanisms and Applications. Sports Medicine, 1-24.
I did some (still) unpublished research on VO2 uptake kinetics (i.e. mean response time - MRT) on runs above CS (i.e. severe intensity exercise domain). Participants performed three runs of different speeds (all in the severe exercise Domain) interspersed by 30 min passive rest. We found apparently faster MRTs with ongoing testing. As faster MRTs have a positive influence on the O2-deficit, it is believed that faster MRTs improve performance.
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