The starter has been beefed up to deal with the stop start-engine wear isn't an issue once its at temp.You do you man, but I personally don't like a delay if I need to accelerate quickly into traffic and mainly I do not want all the unncessary wear and tear on the engine and especially the starter
Once you lift your foot off the brake it should start instantaneously and shouldn't have an issue with accelerating into traffic.
My wife's 2017 Escape has this and it was slightly weird at first, I don't even notice it anymore when I drive it.
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