Always take one, and make it long enough to be useful — fifteen to twenty minutes covering different road types tells you far more than a lap of the block. Ideally drive the car from cold, because several faults only show themselves on a cold start.
Before you set off:
On the move, pay attention to:
Also drive at motorway speed if you can. Vibration, wind noise and brake judder often only appear above 50mph and are easy to miss on a short local route.
Finally, sit in it properly. Adjust the seat as you would daily, check your visibility and that the boot takes what you need it to. Plenty of cars drive well and simply do not fit their owner's life.
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