How long does it really take to "warm up"

My usual commute to work is about 15 miles, most of which is a quick blast along the motorway.

I don't take the car on particularly long runs, but I did take it to the coast ( about 60 miles each way I think) at the weekend, and on the way back, it was like a different car!

I have, in the last few months, got into the habit of warming for a few minutes (until the temp gauge gets to the usual driving position), and when I started doing this, it made a difference, but after the weekend, I am wondering if I should leave the car for even longer before I actually move off.

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