I let mine run for about a minute then drive it away but with my banks exhaust brake the exhaust brake stays on until 135degrees then it disengages it. The motor heats up quicker due to the exhaust restriction, pulling my 5th wheel I will warm the truck up 2-4 minutes. I also do not run my truck in the winter due to the corrosive salt they use on the roads around so from November 30 to April- June depending on the year I put it back on the road, one of these days I plan on moving to a warmer climate than Michigan then salt will no longer be an issue.
2003 Silverado Fass 165, 45% over injectors, Banks big head, Banks 6 gun, Banks Exhaust and filter. Bed Carpet, Pace Edwards electric Tonneau Cover. 122000 miles