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There is absolutely NO reason to leave the engine sitting idling for 20 minutes to warm it up. You are doing more harm than good by doing this - and hence why Yamaha included that timer to shut it down after excessive idling.

This is a modern fuel injected engine. It will run smoothly and as efficiently as possible with no risk of lack-of-lubrication damage to internal components within seconds after a cold start. The best way to warm up the engine is to USE IT. It will warm up much faster under load than it will by idling. Avoid full throttle and high RPM (upper third of rev range) for the first couple of minutes after starting off ... that's it.

Start the engine ... warm-up period is the time that it takes to put on helmet and gloves (< 1 minute) ... ride away.
 
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