For me it depends on OAT (outdoor air temp) - today was an especially brutal day for my beater. The tranny fluid was thick and I'm sure the engine oil (while rated for the temp) was probably less fluid than normal. I let it run for almost 4-5 minutes. I always wait for it to drop in RPMs before really going and even then, nothing above 3k RPM. Nice and gentle, stretch itself out and then go once the temps rise.
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