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I usually let the car tell me. I let it warm up until it settles into idle RPMs. I have an iPod plug for my head unit so I just start it then plug that in and set up some songs while I wait.
you young buck's don't know this I'm sure but when Pop said he was going to warm up the car he meant the inside not the motor. Drag racers push their car to the line and crank it and do a burnout within 45 seconds. They have a $200.000 motor. No warmup required.
Its not a bad idea for a car company to say that their cars dont need to warmup. That way they can get people to buy new cars more often instead of having them last more than 100k miles.
Why?.. So that you give your oil and fluids a chance to atleast get up to proper operating temps. This HELPS in maximizing engine life. Pops knew that and so do I. .. Sounds like you old timers didn't give a $hit about your engines.