My recollection is it said it's a good idea to start with a warm-up to reduce likelihood of an injury.
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*shrugs* I remember that a warmup is a good way to start a session.
No injuries so far even when not starting with a warmup or a stretch.
But.
I noticed that my training bonus suffers if I don't start with a warmup or a stretch. Could have been a coincidence. I will keep experimenting.