Changing oil warm comes from ND oil, changing it warm matters not with HD oil, and all the dirt is in suspension.
With ND oil, the dirt settles out, you gotta run it enough to get the dirt back into the oil, so it will drain out.
The machine on the right had set a LONG time and had perfectly clear oil in the trans and engine
I changed the oils, ran it 10 minutes, and the oil looked like it had 50 hours of use.