I get in, release the break and roll down the driveway. Once to the road, I start the engine. From there I accelerate gently to 45, then coast a mile or so to the first stoplight. In the 30 degree range the car almost gets warm when I get to work.
I didn't read all posts, but didn't see one trick I learned growing up. Put a beach towel over the windshield at night. It will freeze over and your windshield won't. Pull it off and drive.
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