I know its supposed to be done when the engine is cold. My stupid question is, can I start my truck and pull it into my garage and get to adjusting right away. Sorry for the weird question, just not sure if I should wait a little bit. TIA!

 

No worries. That small amount of time won't matter.

 

Cummins says stone cold. You can adjust them like that, you may have some valve noise when cold. It won't hurt anything though.

 

that is still cold