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While I totally agree about not getting on the throttle until properly warmed, I very much disagree with sitting and idling your car to achieve that. The best way to properly warm up an engine is to drive it conservatively. Idling doesn't generate the heat or movement necessary to do the job. Just start the car, wait 10-15 seconds for the revs to start dropping, then drive away. That instruction has been in at least BMW's owner's manuals for 20 years or more.
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