The SV manual says
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Allow enough idling time after warm or cold engine start up before revving the engine or placing the transmission in gear. This allows time for the lubricating oil to reach all critical engine components.
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but
Sid Squid says
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Don't leave your bike to warm up - start it, ride it. Warming up is all deficit, no benefit.
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When I bought my bike, Midlands Superbikes said
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Let the temperature gauge reach 50° before you ride off.
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I tried to find a happy medium. I tend to let the bike warm up to 20° and ride away, but avoid hard acceleration until 50°.
What do you think is best?