three things i keep an eye on.
the engine revs higher for a bit, i wait till it drops below 1k, doesnt normally take long.
I move the shifter around, when really cold its really stiff, so i let the heat from the engine warm that up a bit.
the coolant temp to hit the third dot.
Generally in a combination of these is when i begin driving, but I still dont gun it. (heck i never really gun it on the streets ever, I shift at 3k rpm's and take my sweet time gettin there)
not sure if its correct, but its always made me feel better.
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