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Canadian government is one hella lot more proactive about advising against idling than any entity I've found in the U.S.. Once when researching idling online I found several Canadian sites that advised against it and backed it up with research findings.
The Owner's Manuals I've looked in recommend to drive straight away.
I do that the vast majority of the time. I believe in the faster warm-up while driving gently theory. I'll putz down the street at barely above idle speed, then still go slow in top gear until the temp gauge moves (which happens pretty quickly- FAR quicker than the time most people around here idle via remote start).
If it's -30F I'll let it idle while I'm scraping the windows, and that's about the only idling time my engines ever see.
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