I know that units being warped in can be attacked as soon as their visage begins to appear on the screen. Is this visage cloaked for dark templars?
Starcraft – Are Dark Templars visible during warp-in if you have warp gates
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Related Solutions
You have many options here. Many protoss players use proxy pylons placed in strategic locations on the map so you don't have to divert your attention too far away from the battle in order to warp in new units. You can even go so far as to bring a probe with you in battle to make pylons a short distance behind your army to help warp in units and also provide supply for the large army you're creating.
Hot keys can be used to great effect here if you practice a bit. Double-tapping a hotkey will center the screen on that location, so if you have a pylon or other unit near a pylon where you want to warp hotkeyed, you can center location on it with a hotkey, hit W (to select all your warpgates), shift+click a bunch, and then double-tap a hot key to go back to your army in a second or so with practice.
Remember also that it's generally a good idea not to queue units, so warp gates enforcing this is a good way to practice your macro for other protoss production buildings and if you ever plan on playing Terran. You generally want to be spending your minerals on things you get now, rather than things you will get later. This is an important point which is mentioned often by Day9 in his tutorial casts.
Most of all, just keep practicing.
The radar ability of the sensor tower will not detect cloaked or burrowed units, regardless of whether they are within the fog of war.
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Best Answer
Resorath and the wiki are correct; Dark Templar indeed are cloaked while warping in.
In this screenshot, the two sentries ignore the Dark Templar during it's warp in:
But once we add a Raven to the mix, the sentries switch their focus to the templar soon after the warp in initiates: