Most knowledable folks recommend that you let the car sit for maybe 30 seconds at most. This is enough time to put on your best, adjust the mirror, lock the doors, close the garage door etc. Then, drive the car moderately until it is fully warmed up. For most practical purposes this means do not hammer the car until the the engine coolant is at normal operating temp and the drivetrain has had a chance to warm up as well.
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Rich Belloff
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