S sure. Go to any truck stop and you will see , or hear. If I need a/c or heat I idle but temps don’t bother me much so I don’t idle to much.
I ran a 2014 F550 diesel for a few years. I let that thing run 12 hours a day. Might have seen 3-4 hours of drive time, rest was pretty much idle. Never really had any trouble with it.