I'm not sure if it applies to warm water (as opposed to boiling water), but it may make your windscreen deteriorate and be more susceptable to cracking.
I've done it for 20+ years on all sorts of old snotters, from my B GT to Fiestas, Escorts etc right through to my current company car. Even my previous Mondeo with multiple repaired stone chips ... no problems with cracking etc.
As long as the water is only hand-hot, it's fine.
More cars should have Ford's heated windscreen though, it is a genuine safety aid (admittedly I found it better at demisting the inside of the screen than for clearing frost)
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