ETA: Gotta type faster or say less …
For sure you want to get it fully warmed up when you do drive it. That might be 5-10 minutes in summer, but 20-25 minutes in a Madison winter.
As well, you want to drive enough to fully recharge the battery from the sitting & the starting. That will take longer in winter due to more loss while sitting, more energy consumption while starting, and likely more accessories turned on while recharging (heater, wipers, lights, defog, etc.).
You also want to not let the battery get as low in winter vs in summer. i.e. the car might start with a 20% full battery in summer but need a 40% full battery in winter.
I used to keep a car outdoors in St. Louis & run it every 7-10 days for routine errands, probably 20-30 minutes running each time. I never got close to having a problem with starting in winter.
Brakes will be a little flaky if not used that often. So after each start, give them a careful workout as you get away from the parking space. Again this is more likely to be an issue in winter than in summer.
Bottom line: I’d bet that with a new-ish battery you could probably get by running it every 6 weeks through your winter and every 2-3 months in the warmer weather. OTOH, if your battery is the factory original from 2002, it’s on its last legs regardless of mileage. Change it now, or certainly before November.
In the longer term, tires are gonna suffer after 5 years or so regardless of how few miles you’ve put on them. So be on the lookout for cracking, bulges, and odd vibrations while driving.
Oil changes should be done every 6 months or so even if you’ve put on only a few miles. Your owner’s manual may have info about service intervals for low usage. If so, follow that.