some of the big stouts like Abyss, XXIII or Serpents and even 15 from Stone all have flavors that will get masked by cold. but even every day Black Butte Porter benefits from warming. in the USofA Guinness is almost always served too cold as most beer bars don’t have a choice or way of controlling temperature just for one keg.
it might not be enough to just take beer out of the fridge and let it warm up. some beer will benefit from agitation in the glass. or air might interact with it as it’s being poured allowing it to “open up” the same way a scotch or red wine develops in the glass. we’ve all had an experience where we’ve not been impressed with the drink, but it aside and 10 minutes later it’s a completely different drink.
that’s why you shouldn’t be in a rush to down what you just poured from the bottle. of course there are exceptions. Kølsch for example. needs to be cold which is why it comes in a tiny glass. Pale and IPA generally are what they are right out of the bottle.
one simple way you can learn about what gets better as it gets warmer is to set aside a beer that you are enjoying and order another beer. after you finish your next beer go back to what you saved. what you will find is always going to be a surprise. which is, that some beer does not get better at all.