The manufacturer's recommendation is more for emissions control and just plain not wasting fuel. Fuel combustion is worse in colder engines because it uses a richer air/fuel mixture, plus emissions are worse because the catalytic converter performs less efficiently when it is cold. So it is true that 2-3, maybe even 5 mins if it's really cold, is a good warm-up period, then drive it gently until everything has had a chance to warm up.
The manufacturer wants to prevent those people who idle their car for 10mins or more, think it's all good to go hard, but don't realize that it's only your engine that's warm, and not your wheel bearings, transmission, steering, suspension, etc. Not to mention the wasted fuel due to your catalytic converters being colder, longer.
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