I try to let it idle maybe for a minute to get things flowing though sometimes it might be a little longer if I remote start and then start digging through my cigar collection to decide what I want to smoke. I try to drive easy until it is semi warmed up. My wife on the other hand, she will idle for as long as it will let it go. For my Legacy I think it is 10 minutes. For her Honda I think 15 minutes. I try to discourage but she won't listen. My Impreza is the one that might idle longer due to cigar searching. Sometimes it is because I am loading the car too for a gig.