Would it be better for the vehicle's health if I let it sit undisturbed until I intend to actually drive it? And why would it be better?
That is a relatively short time, if inside especially, for anything but the battery and the fuel tank. And you have those covered. I'm sure that'll be best for it. If you don't run it for long enough each time to completely cook combustion moisture out of everything you'll do more harm than good. And it takes quite an idle to fully heat up, nor is extended idling particularly good for it. -- Jim