[Jeff]

The colder it is outside, the longer I let my Rav warm up. When I first start it up in the morning, I usually let it warm up for 2-3 minutes, or 5-10 when it is really cold out. I let the idle slow down a bit before I drive off, otherwise the high idle annoys me (since I have a clutch).

 

[Jeff]

I don't usually wait for the temp gauge to reach normal, but I give the engine a little time to get the oil flowing. You don't necessarily need to wait and let the car warm up like you did in the old days, but it's the same debate as changing you oil at 3,000 miles vs. 10,000 miles; while oil may not need to be changed for 5,000 miles or more, some people feel that it's better to change it at 3,000 miles.