[Stocker]

Yes, and fully warmed up (and obviously on flat ground, like a concrete slab). And though I've personally never done it, some say to cycle through Drive and Reverse. I usually don't bother with that because in order to warm it up, it has been driven, so.....

Actually, with some vehicles it makes a difference whether it is in Park or Neutral. Not positive but I don't think it matters on our trucks. I always put it in Park, because, well, it is parked at the time!