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There has been a lot of discussion about this topic on this and other boards. The view from individuals who know something about diesel engines is no, it does not harm the motor to operate at lower RPMs for extended periods (when was the last time you heard about a diesel needing to be rebuilt because low RPM use). It is helpful to get the motor to termperature first.
That said, I am no diesel engine expert, and I certainly would like to hear a definitive answer from the manufacturers!
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