I let mine run for 2 min or so - at start the car revs over 1k rpm (1200 or so) the settles down to around 800. As soon as its died down, I'm on my way.
Its been really cold here in Florida for the past week or so, I've got the timing down almost to a science. Warm up the car, drive to the stop sign at the corner, and the heat clicks on.
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