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About a minute or two for me. The bike idles at about 1,100 RPMs and when I ride I seldom go over 2800-3000 RPMs so taking off sooner is not really putting a stress on the internals. It's not like it is a racing car revving at 7,000-9000 RPMS.
I do use synthetic oil so that should work to my advantage if I was to not let it warm up "properly".
Something worth mentioning is that my car revs the engine at a much higher speed when cold to bring the engine temp to normal operating temperature quicker. I think even Harley does that by a few hundred RPMs. If it was bad for the engine to rev at higher speeds I don't think it would do that, right?
I don't live my life by what the idiots at Amsoil say. You can if you like. I start the bike, put the kick stand up, shift into gear and take off. Never had a problem.
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