I have what is now called an older diesel that I bought new. I have always started it up, idled a few seconds and drove out the driveway. I live a couple or more miles from the nearest highway, so 35-40 is my speed for those miles with maybe a couple of stop signs along the way. I have heat in about those couple of miles. It's not completely warm in the truck, but I have warmth coming out the vents. My seat warmer helps too. It will idle longer if I have frost, ice and snow to remove. I have even did this when we visited in Montana one winter with over night lows of -4 or more.