I wait for the car to settle down from the cold start, then go. About 30 to 45 sec. My car will be warmed all the way by the time I am at the end of my road. No need to waste fuel. The car will heat up faster if a load is placed on the engine. With todays fuel injection systems and oil, it's silly to warm up a car. It's old school carburetor thinking. My diesel truck won't even warm up unless it is driven. If I had to wait for it to warm up at idle, that would be 45min at least.
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