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On the garage floor is fine.
If you're going to start the engine (and then not start it again for days or weeks) drive it around and get it up to temperature - as in - hot. And then drive it for at least 20 mins, 30 on a cold day. Prolonged idling isn't really good for any car (I know, everybody does it in their daily driver). Starting up a cold engine and idling it doesn't really get it hot the same way as driving and putting a load on the engine.
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Kurt
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