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I think warming it up can actually lead you to a false sense of security. If you let it idle for 15 minutes in winter and get in thinking it is warmed up and drive it more than gently, guess what you transmission, differential, and all suspsension components including tires and brakes are still ice cold.
I start it and drive away. If it is really cold I will let the RPM drop so I can start getting a bit of heat through the vents. Driving with numb hands sucks.
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