Well, it really depends on where you live. Like here, in the dead of winter, it will hit lows of about 35. Thats really not all that cold for most people, but i still try and let it warm up a little bit. Probably about 30 seconds, then followed by gentle driving. I think thats most important. Dont be afraid to drive it after a short warm-up period, but be gentle about it. Drive it like a deisel. For me, i usually shift about 1500-1750 when its cold.
Also, it really depends on the car. My jeep, even in the hot summer, it will take a good 10 minutes for the needle to move, 15 to be in the middle, and 30 to finally hit closed loop. Its just plain rediculous. So unless i wanna idle for half an hour, i have no choice but to run on a cold engine. Whereas on my moms van, it takes about 1.5 minutes in the cold winter, and your up to temp, closed loop, and megahot air coming out of the heater. In a car like that, sure, id let it warm up until right about when the needle starts creeping up.
In my opinion, warm it up some, but most importantly, just drive gentle until it warms up.
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