No heat is needed, but you can use some to make removal a bit easier if you want.
Sunlight does penetrate the vinyl, although some UV is blocked. I have seen cars that were covered for 5+ years have the vinyl removed and you could not see a difference in the paint between the covered and uncovered.
The decision has a lot to do with where you live and drive. Here in N. Virginia, especially on I-95, rocks are constantly pellting the front bumper. I never found it easy to touch-up all of those rock chips and keep it nice looking, and I tried.
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Greg
2013 Camaro ZL1
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