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Originally Posted by shakran
on a modern engine, just start it and go. Warming it up actually hurts it more because when you put the engine under load it does a better job of getting the oil to the top of the head. Drive gently until a few minutes after the temp gauge reaches normal.
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This makes sense in a way, but intuitively it seems more gentle to let the oil move around when the engine is at idle (900 rpm) versus under driving conditions (2-3000 rpm). I sometimes wait a sec if it's really cold to let the valve "tapping" noise settle down a bit before I drive; I don't know if that's really necessary, but it feels like letting me wake up and get a cup of coffee, versus shrieking out the door when I'm late for work.