No, you don’t, at least not in Germany - this is forbidden (StVO §30(1) - the fine is 10€, okay), and rightly so - an engine on idle does not really warm up the engine itself, not to speak of the entire car. Idling your engine while you brush off the snow and de-ice the windows means the engine is running cold that whole period, and in this state it consumes much more gasoline and produces a multiple of pollutants compared to when running warm. It’s bad for your wallet, your environment and your engine. Really, don’t do this, wherever you are, it’s nonsense.
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