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Wrong.... To warm up your tranny, warm up engine for about 5min first, then, keeping brakes on, put tranny to D. wain 45sec, put it to N, 45s, put to R, 45s, repeat. Done. Then you can begin driving.
What is the point of going into different gears? Tranny fluid will get heated from being pumped, I agree put it in gear and hold the brake, no need to go into different gears. the metal in the tranny will heat up at the same rate regardless of what gear its in.