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Those who think warming the engine before driving it have a valid point, because while the oil is still cold it doesn't flow as well as it does after it warms, which results in increased wear. But the engine and oil warm faster when it's being driven than when it sits at an idle, so it's best not to let the engine warm before driving it. That's why BMW says don't let it idle to warm up. It's also why BMW says not to wind the engine up until the engine does warm to the point that the oil is flowing well enough to do its job.
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