Car manufacturers generally recommend against idling engines to warm them up, beyond letting it run for 30 seconds or so to let the oil circulate. Idling an engine to warm it up can cause extra wear because you’re prolonging the time the engine is running below operating temp. Driving it with moderate amounts of throttle and revs will warm it up more quickly.
While the engine is still cold a lot of unburnt fuel and condensation is going to make its way into the oil and exhaust system, so you don’t want to have it running in this state any longer than is necessary. There’s also the issue that while the coolant is going to heat up if you idle the engine, the engine oil takes much longer to get up to temperature if the engine isn’t doing anything.
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