A minimum of 30 minutes. I have never had a problem with fuel gumming four Onan generators during the past eleven years.
Realistically, being that I live in Southern California, it gets hot in the middle of January inside of any RV as long as the sun is out. It can easily be 50F degrees outside, and 80F degrees inside late in the afternoon.
If I'm putting around the RV on maintenance day, I'll just run it until it's cool, perhaps a little more than 30 minutes.
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