My Raptor idles a lot (all my vehicles do). I drove 3k miles for a cross country trip earlier in the year: my truck drove all day and was left on each night as I slept in it. Never had a smoke issue or anything else—was also hauling an 18ft trailer mind you. Run a premium full synthetic oil and change it often if you are concerned with excessive idling since idling does cause your oil to wear out sooner. Moreover, use top tier fuel in your vehicle to ensure it functions properly. Bad fuel can cause rough idling, engine knocking, and so on.