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I use to work in a service station and was always working on hot engines, so I didn't know any other way. I've always had them at least a little warmed up since I've been away from that line of work for quite a while now even here in AZ. Just my old school mind taking control I guess.
Synthetic 5W30 flows pretty good when cold. I change mine cold or hot. It really doesn't matter. I remember in the olden days when some of that cold oil ran like molasses. No more.
If you change it cold after the car has sat for awhile you get more of the old oil out. Just make sure the back is a little higher than the front, since the plug is on the front of the pan.....and make to fill filter with new oil before you spin it on.
The car being level to a little higher in the rear is more important than oil temperature as the front drain, low sump and pan baffles need to have the car near level to a little higher in the rear when changing oil. Otherwise all you'll be doing with the oil being hot is risk burn.