How to warm up Toyota Sequoia properly?

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the car I'm talking about is a Sequoia (limited) which has a big V8 5.7 liter engine. I live in a hot climate usually 38-45 degrees Celsius. After starting the engine while pressing on the brake pedal its like the car does not let me shift to drive .The gear shifter is hard so i have to warm up the engine before because usually the needle is under the meter **so what is the best way in warming up the engine oil
1) revving the engine slowly or
2) just leave it idle until the needle comes up and then shift to Drive
or if you have another suggestion
 
change the transmission fluid and see what happens, the issue is with the transmission not the engine, as the engine pumps the fluid around it warms up.
also could just be caused by low transmission fluid level
 
Sounds like you have a mechanical issue. You should not need to warm up the engine before you drive. This would be a useless fuel wasting feature.

There is no reason to warm up a modern engine. You use multi viscosity oil don't you? Something like 10W40, 10W30, 5W30, etc. Modern multi viscosity oil will flow well in both warm or cold temperature. So warming the oil in not necessary.

On most modern vehicles there is a safety interlock which requires you to put pressure on the brake pedal to put the vehicle in gear. This is the first place I would look. This safety device is either malfunctioning or out of adjustment.

If warming the engine is really a factory installed requirement to put this vehicle in gear, I would sell this vehicle and use the money from the sale to buy a different vehicle that doesn't have this fuel wasting requirement.

However I have never heard of a vehicle that intentionally forces you to waste fuel by forcing you to idle the engine in your driveway. This is why I think this is a mechanical issue.
 
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