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I wait til the RPM drop down to 600 (the usual idle for my car) Takes about 2-3 minutes and take it easy til I get out of the neighborhood for the car to warm up a bit more. I usually take it around the block before entering the main street and still taking it easy after about 5 minutes since the car's started. I can tell when it isn't warmed up when it shifts gears at like 3500 rpm. Just doesn't feel right to just turn it on and go..so I just compromise between the what the Manual says and what's tradition..2 mintues sounds right to me.
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