I usually wait for the idle to drop or that noise that sounds like a compressor to stop (happens at the same time). I guess it's just a habit since I ride a Harley and it's always good to let an air cooled engine warm up before using. I like to make sure the trans and engine are all primed and ready before I put it in gear.
If it is REALLY cold (Below zero cold) I will usually allow the RPMs to come down a bit as they can be quite high. Normally....No more than 15 seconds as I like to allow the oil to reach the upper areas of the engine before I pull away....
I normally (almost always) let the revs drop before throwing it in reverse.
I've noticed that the 3 or so times I've *not* done that, the vehicle takes off a lot faster (peeling out of the driveway), or one time I was in a parking lot and put it in drive and was like "whoa nelly".
So now I try to let it warm up or whatever it's doing. Although since I use Carplay I almost have to wait longer than that unless I want the head unit or surround view camera to not function properly (ie, gotta let the head unit boot up fully before plugging phone in or else half the time the stupid camera won't go on). The engine always finishes doing whatever it's doing before the head unit is ready.
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