It'll warm up better if it's driven, not just idling. I'm not sure how much work it does idling, but not much.
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I have read the manual and it says to wait at least 30min if you have been driving.
I’ve read this, but it doesnt say which is the correct reading. Only to put the dipstick back if the correct level is obtained.This is what I read on page 6-22 6-23 in link manual.
A cold fluid check can be made after the vehicle has been sitting for eight hours or more with the engine off, but this is used only as a reference. Let the engine run at idle for five minutes if outside temperatures are 50F (10C) or more. If it's colder than 50F (10C), you may have to idle the engine longer. Should the fluid level be low during this cold check, you must check the fluid hot before adding fluid. Checking the fluid hot will give you a more accurate reading of the fluid level. Checking the Fluid Level Prepare your vehicle as follows: Park your vehicle on a level place. Keep the engine running. With the parking brake applied, place the shift lever in PARK (P). With your foot on the brake pedal, move the shift lever through each gear range, pausing for about three seconds in each range. Then, position the shift lever in PARK (P). Let the engine run at idle for three minutes or more. 1. The red transmission dipstick handle is located at the rear of the engine compartment, on the passenger's side. See ªEngine Compartment Overviewº in the Index for further information on location. Flip the handle up and then pull out the dipstick and wipe it with a clean rag or paper towel. 6-23How to Add Fluid 2. Push it back in all the way, wait three seconds and then pull it back out again. 3. Check both sides of the dipstick, and read the lower level. The fluid level must be in the COLD area, below the cross-hatched area, for a cold check or in the HOT area or cross-hatched area for a hot check. 4. If the fluid level is in the acceptable range, push the dipstick back in all the way; then flip the handle down to lock the dipstick in place. Refer to the Maintenance Schedule to determine what kind of transmission fluid to use. See ªRecommended Fluids and Lubricantsº in the Index. Add fluid only after checking the transmission fluid while it is hot. (A cold check is used only as a reference.) If the fluid level is low, add only enough of the proper fluid to bring the level up to the HOT area for a hot check. It doesn't take much fluid, generally less than one pint (0.5 L). Don't overfill. NOTICE: We recommend you use only fluid labeled DEXRON-III, because fluid with that label is made especially for your automatic transmission. Damage caused by fluid other than DEXRON-III is not covered by your new vehicle warranty. After adding fluid, recheck the fluid level as described under ªHow to Check.º When the correct fluid level is obtained, push the dipstick back in all the way; then flip the handle down to lock the dipstick in place.