The AVMA has an article on this topic at https://www.avma.org/public/PetCare/Pages/pets-in-vehicles.aspx. It includes a chart that shows "Estimated Vehicle Interior Air Temperature v. Elapsed Time." They also have some suggestions for cold weather safety at https://www.avma.org/public/PetCare/Pages/Cold-weather-pet-safety.aspx.
You might be interested in this article, as well: https://www.hillspet.com/dog-care/routine-care/leaving-dogs-in-hot-or-cold-cars#:~:text=It's%20generally%20safe%20to%20leave,park%20in%20a%20shady%20spot.