Yeah, obviously how much engine heat you need to have before you feel warm air from the vents will depend on how cold the air you're trying to heat is. At 40F the engine doesn't have to be much past 40C (104F) before the heat from the vents starts to feel warm...obviously at 20F the heater has a bit more of a chore ahead of it.
When I lived in MI I sometimes thought about mounting an electric space heater *inside* the car for cabin pre-heating and window ice melting, but I never had a convenient plugin. When I had a VW bus with a gasoline-fueled combustion heater, that thing would melt the ice off the windows in no time. It would produce enough heat to make you sweat if you let it run long enough.
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