-30? No, but -10 or so. In that case, I give it 20-30 seconds, and off I go. Warms up much faster that way. As for warming the interior, that's why they invented coats and gloves (and heated seats). In that kind of weather, the heat is warm within 3 or 4 minutes of driving.
That and people who live in places where -30 is commonplace typically have block heaters.
As far as it being illegal is concerned, it's not a law in too many places around here, but it damn well should be. Do you let your car idle at train crossings or in a stopped traffic jam? That's another waste. I prefer my gas to be wasted in the form of tire burning fun.
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