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Should I let my older engine warm up before driving?

  

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Hey there Scotty! I have a local to Washington 2001 Toyota Avalon XLS with only 84,580 miles and the 4 speed automatic console shift transmission. When I start it in the morning, the engine sits at about 1500 RPM and gradually decreases until the engine has warmed up, unlike my 2012 Focus which lowers to idle shortly after a cold start. Is it better to let my car warm up or is it better to start driving? 

Thanks a ton! 


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https://www.youtube.com/watch?v=MEaYKmxk_yc

 


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