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Shoot, 2 minutes away, I would just walk or get a bicycle. More time I could spend with the kid too.
But to answer your question, it's not good to never have the car come up to operating term. I won't go into it, but it's best to drive around 30 minutes at least one a month to get all the fluids hot and the oil lubricating. Now on a Prius, if it runs on battery the entire time, then this is not as big of an issue.
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