As far as I know, no manufacturer in at least the last sixty years has countenanced idling to warm any engine except perhaps in extreme cold (e.g. below say -30), and then only to slightly warm the oil. Idling does not warm the engine to any extent, merely prolongs the period of cold running (cold being 'below normal operating temperature'). The practice almost certainly derives from the time when carburettor engines needed careful choke adjustment to avoid acceleration flatspots before the intake manifold hot spot warmed up.
As stated above, it can lead to multiple problems with the engine, especially in diesels, which mostly do not cope satisfactorily with prolonged idling even when warm, although it is generally a good idea to avoid shutting down turbocharged engines immediately after operation at high power setting - but about a minute of idling is usually sufficient.
John
				
			 
			
		 
			
				
			
			
				John
JDNSW
1986 110 County 3.9 diesel
1970 2a 109 2.25 petrol
			
			
		 
	
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