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A local BMW indie guy, Eurotune, says not to let your car warm up by idling before driving, he says to drive it straight away. Obviously you don't redline it out the driveway but he did stress "warming it without load is BAD". The old school warm up was for cars that had much looser tolerances than modern cars. Air cooled Porsches come to mind; a neighbour used to warm up his 911 while he finished his morning cuppa. Pretty effective as an alarm clock.
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