You could make a good argument either way..........consider this: Police cars hardly ever shut off. Just go to a football game, or state fair....somewhere they are directing traffic. There will be cars sitting there idling all day long, with no problems.
I'd say that it isn't going to hurt the car to idle......but it will use more gas than shutting it off.
<<But keep in mind that a car burns more fuel when it is cold.>>
It isn't going to get cold if you shut if off and go inside somewhere for a few minutes, or even 30 minutes.
There isn't going to be any excess heat from idling, if the car's cooling system is operating properly. Yes, police and taxi cars have extra cooling, but those cars see much more extreme use than than rc5's car is going to.
The only argument that can be made is wear and tear of restarting multiple times. What does it hurt? Well, it does work the starter motor much more than the average daily driver. It does put extra strain on the battery.
Does increased wear to those components offset the extra gas burned by leaving it running? Probably doesn't make much difference either way, so I guess your answer is, do whatever you prefer. If you want to save money right now, shut it off.
If you want to prevent possible parts failure in the future, leave it running.
More importantly, if you want to make your car easy to steal, leave it running.