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Actually believe slightly more fuel is burnt if you hold it on the brake but we are talking a miniscule amount. Although the engine is spinning at the same RPM its working slightly harder to maintain that RPM - it pops in a little more fuel to keep the engine from stalling. Back before computers and clever cars autos ran a slightly higher idle speed to make sure the car didnt stall when it lost 4-500RPM from being put in drive with a foot on the brake.
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