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I vote for once a week, or regularly, drive it long enough to fully warm/hot it up...
While fully warm/hot, every time one drives is an admirable goal, in real world of short hops, errands, short trips, it is elusive, imo.
I think you are doing the right thing/best you can in real world use circumstances.
Fwiw, our '01 3.0, with ~94k miles, is driven to not nearly hot with some frequency, and also driven to full hot a few times a month, and then also driven on hard driving all day road trips a couple three times a year.
With that kind of use/abuse on our '01, it still runs better than my Rolex...all anecdotal, but aside from the theory and the term papers on Bob The Oil Guy site, I feel you are doing the right/best you can.
GL, mD
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