I've never worried about this. Hard to believe there is 5 pages worth on the subject!
It's simple for me....
Roll bike into driveway, start the bike. Walk back into garage, begin to gear up for the ride. By time I'm done gearing up and ready to mount the bike it's idling at normal RPM.
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2008 Vulcan 900 Custom
'01 KTM Duke 2
'04 Yamaha FZ6