I just wait until it's running smoothly and then drive off gently. If it's cold enough out to need extra warm-up time, at least if it's mine, it starts up sounding fairly rough. When it smooths out a bit, it's ready to go.

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~Michael S.~
Past cars:

1986 300SDL
1987 300SDL
1982 240D
1982 300SD


Current:

1987 300SDL