our 24x24 garage is in the same boat. We insulated one corner when I put in an air compressor, and we just got done putting in an insulated dor. The door itself has made a gigantic noticable difference immediately. We have a hommade 33-year-old barrel stove, that gets things to a useable temperature. When we bought the insulated door, we also bought a few sheets of 1" thick polystyrene insulation, and a box of fender washers. We're going to tack the insulation onto the bottom of the rafters with drywall screws and the washers. Since most of the heat goes up to the un-useable area in the peak, and out the edges of the rafters, this will keep the heat in the used area, and make for a nice comfortable working area, as well as reducing the wood consumption.
I do have a 215k BTU torpedo heater, that I use with K1 kerosene if I'm going to only be in there for a short time and not go through the trouble of starting/tending a fire. The cleaner burning K1 kerosene has been harder to find the last couple of years, and getting kind of pricey.
I'm currently toying with the idea of one of those Heat Extractors. My uncle had one years ago in his house, and it worked great.