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I think steam from waste heat has huge potential. Plus steam I can generate incredible torque. However, I think it has to be thought of as a supplementary or delayed source of power. Just as solar won't likely power most houses, it still shouldn't be ruled out of service some supplemental or dedicated (say powering outside lights) role. Maybe steam off an exhaust system could drive some electric generator or a turbo/supercharger...
Why not have tri-brids? Say Diesel-Electric-Steam train engines. Maybe semi's could use steam from their big diesel engines (once they're hot and on the highway)...
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