Everyone here is pretty much spot on about not really “warming up” gasoline cars, but driving them conservatively until warm. But yeah, that does mean there is still a “warm up” period. The engines are designed to run at a specific temperature. The various parts all expand and contract at slightly different rates, and you don’t want to put sudden changes in load on it until everything is at the temp it’s designed for. But yeah, just driving it is better than not, because it heats things up faster.
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