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I usually fire it up, then put on my gloves and helmet. By that time its had a few secs to circulate some oil.
i'm pretty much in the same routine. Of course, you can slide your helmet on before you start your bike. That will take away some of the loudness and maybe some of the guilt. Then you can buckle your helmet, put your gloves on, and go. That should still give it enough time to push some oil through, as long as you don't hurry through it. The owners manual recommends 15-30 seconds, if that makes you feel any better about getting out of the parking garage quickly.
I agree with exemexer 100%. After starting the engine, I go through a complete spot inspection of all of the lights and turn signals before I take off. If something is not working correctly, I am already at home to address the problem. Harleys are hard on light bulbs for sure and I always carry spares with me. I would rather find a bad bulb while warming it up, than to have LEO pull me over to tell me that one is out! It can't hurt to warm it up, but it can hurt to NOT warm it up. When the rocker box is warm, I feel comfortable to go. It's your bike, treat it however you want to, but for me, I warm all mine up. Good luck with your bike and ride safe out there!
I let mine idle for 20 seconds or so and ride the first couple of miles gently - it gets oil round the engine initially and then it warms up all in one go rather than some hot bits and some cold bits.
I never let my bikes warm up by sitting and idling. I start 'em, put 'em in gear and ease down the street. It will warm up just fine easing thru the gears the first mile or two. The key to not having leaky gaskets is not to just jump on it and tear off WOT.
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