Engine oil looking milky can be caused by either intake manifold gasket leak, head gasket leak or even just natural condensation.
My car gets milky looking oil when the humidity is high and after the engine gets up to temperature and I drive the car longer than 15 miles the oil clears up and the condensation goes away.
If you're not losing coolant and the engine is running okay then it's likely just condensation in the engine.
If it's an intake manifold gasket leak then your engine oil would be filled with water and look extremely milky or if your head gasket is leaking you'd have some white smoke coming from the exhaust which would not clear up.
However it can be normal to see a bit of smoke coming out the exhaust due to condensation as well.