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There's an oil film to protect until oil pressure builds. The oil pump starts pumping the instant the starter is engaged- even before the engine fires- so oil is flowing fairly immediately. If you have an oil pressure gauge you can see how soon it jumps up; if you have an oil pressure idiot light you can see how soon it goes out.
In brutal cold I think an argument can be made for a moment's idling (under a minute; none of this 20 minute B.S.). By brutal cold I mean below 0 F, not 50 F for you Californians.
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