Most people actually do this not to warm up the engine to prevent engine damage, but to warm up the engine so your heater is working. Nothing worse than driving in an ice cold car waiting for the heater to actually send warm air through the vents, and meanwhile your windshield is frosted over because the air trying to defrost the windshield is fricken cold. This is why Canadian cars still have block heaters. Your engine is fine, but your butt is icy.
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