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for condensation to harm his engine he would have to never let his car fully warm up and never change the oil for it to become sludge. Drive your car normal, change your oil every 3k miles. You drive your car daily, its nothing to be worried about.
If my work was only 1.5 miles away, I assure you I would be making it longer!! Certainly after work I would "Take the Long Way Home"!! WOT!!!!!! In the winter just warm it up good now and then.