We did it one time. On one of our first trips I fired up the furnace about 30 minutes prior to our arrival at an overnite stop to "pre-warm" the trailer. It seemed not to cause any problems. After thinking about it, though, I noticed that about half of the floor registers are covered by carpet when the slides are retracted. That might not cause a major problem, but it is enough of a concern that I will be unlikely to do it again. Also, experience has taught me that the furnace is so effective that it will warm the trailer pretty quickly anyway.
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