Warnock has predicted that he expects a Palace to recreate their 2004 Cardiff play-off success and bounce back into the top-flight at the first attempt.
Palace were more preoccupied with avoiding dreaded injuries with a play-off spot already booked and United were happy enough to have an easy afternoon crowned by Chris Morgan's winner nine minutes from the end.
With little at stake it was a carnival atmosphere as both sets of fans even had time for enthusiastic Mexican waves around Bramall Lane.
Palace could have been in front three minutes before half-time but for a controversial offside flag that ruled out Clinton Morrison's strike when he rifled in a shot from Ben Watson's super through ball.
Earlier Watson drilled a low free-kick from 25 yards but keeper Paddy Kenny was untroubled and Marco Reich scooped a shot over from 15 yards.
Hungarian keeper Gabor Kiraly juggled the ball away when striker Neil Shipperley was at the far post to head David Unsworth's curling free-kick goalwards.
And early in the second half Phil Jagielka lifted his 20-yard effort over Kiraly's bar and, after Danny Webber dazzled down the left and cut across a super pass, Keith Gillespie mishit his first-timer.
Skipper for the day against his old club Shipperley, whose 11 Championship goals helped United reclaim a Premiership place after a 12-year absence, was given a hero's reception as he was subbed in the second half.
He handed the armband back to regular captain Morgan who headed in his third goal of the season from Gillespie's pinpoint cross.
And on an afternoon for Bramall Lane heroes United legend Brian Deane,38, even made a cameo appearance from the bench in his third spell at the club and to a huge roar from the 27,120 crowd.