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I usually wait until OP is up, then go when ready (takes me a while to lock and load anyway ...). If it's real cold (which it sometimes is when I leave work at 2 a.m.), I let it idle for a minute or so then go. If I feel it needs to warm up, I drive around the parking lot (big lot) a couple times slowly. Idling to warm it up seems pointless ... it takes forever, and the tranny fluid still needs to warm up anyway.
The exception is if I'm iced in, I let it idle while I clean off the snow/ice ... might as well get rear window defrost up and going.
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1987 300D, arctic white/palomino--314,000 miles
1978 240D 4-speed, Euro Delivery, light ivory/bamboo--370,000 miles
2005 Jeep Liberty CRD Limited, light khaki/slate--140,000 miles
2018 Chevy Cruze diesel, 6-speed manual, satin steel metallic/kalahari--19,000 miles
1982 Peugeot 505 diesel, 4-speed manual, blue/blue, 130,000 miles
1995 S320, black/parchment--34,000 miles (Dad's car)
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