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Letting your car idle isn't actively bad for the drive train, but it certainly does put strain on the engine, additionally engaging the AC will put the engine under load, and work the engine harder even though you're not driving anywhere.
Running Problems. 1  Rough Idle If the car starts when cold but, idles rough or does not want to stay running, this can indicate a problem with the engine temperature sensor. When the engine is started cold, the engine temperature sensor sends a signal to the DME control unit to provide a richer mixture.