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I also start mine and let them come up to temp and have never had any issues. the reason that I don't change the oil before winter, is that my bikes live in a shed all winter and there is not heat. I worry about the viscosity of the oil breaking down because of the extreme temps.
I never winterize. Here in Omaha we usually manage a few days here and there all winter where the streets are dry and the temps are warm enough for a short ride.
I think your winterizing steps depend on your situation. I live in a cold climate and it can be many months between fall and spring riding. However, the air is very dry here and the bike stays in a heated garage. I have never done anything special for storage other than top off the battery once in a while, and I have not noticed any problems from storage. If there was a lot of humidity and condensation I would worry more about the oils, tanks, and ethanol.
I disconnect the battery and put it on a battery maintainer to avoid component drainage. I don't run my stored vehicles in the winter because it just blows water into the exhaust pipes and if they don't get hot enough they can rust. I only change the oil if I have more than 1000 miles on it, otherwise it is still fresh enough to stay there. I also cover the chrome with a thin layer of oil to protect from condensation, and put a moving blanket over it, then a bike cover. This has always worked for me in a cold garage.
What is a "moving" blanket? Does the pillow go under the front or rear tire? Just kidding .I'm sure there's some rationale behind it. I've always just used a nice HD cover with no issues.
I live in central Indiana. I add fuel stabilizer, fill the bike with fuel and let it run through the system and the battery is on the tender all winter. In the spring I drain the bowl on the carb and change all fluids, have never had an issue in 5 years.
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