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I also don’t, I only wait for the revs to go done which is 30sec and then drive off. The main idea of setting off after the revs go down is to let all of the driving components such as the transmission, differential, brakes etc. to warm up together with the engine itself. If you warm up while idling the engine will be ready to give out what it has but other components are simply not ready to handle the load. Also bear in mind that a proper warm up of the transmission is at least 20-25km of driving as the transmission fluid is very hard to heat up and cool down. If you start putting pedal to the metal before that I can guarantee that it will give you headache on the longer run.
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