my 0.02, as they say, but generally, seeing as we treat our garages as an extension of the house, and spend a lot of time in them, then I would build the floor to house standard, but with durability.
Example, here, even though it's a mild climate, you have to have a minimum of 50mm of insulation under your floor. Contrary to what you might think, yes, your floor does 'radiate' heat downwards to subfloor/ground, if you don't. Simple physics - if the air in the garage is warm, it will have a somewhat heating effect on the slab, and by conduction.........the ground under it. This is more felt by the floor being 'cold' than by your floor being a 'warm path', out...........same thing, but perception is different.
Now, I'm a big UFH fan, and have had it since 1997. In my new build, in 2007, I put it everywhere: in the house, basement, GF/FF,and the garage.
The requirement here is that if using UFH, then you must now put in a minimum of 125mm of insulation. I've done this, and in some places (the utility room), I have 200mm of it. And boy is it noticeable.
The company I work for
HERE uses DOW Styrofoam, more particularly their LB-X product, which is a structural grade insulation. This is what I used in my own build. I've seen 'earth-sheltered' houses built with it under the structural slab, to a thickness of 300mm, with 400mm of concrete over, and the whole concrete house built on top of that - it's that strong.
You simply can't have enough insulation, UFH heating, or not, and it's a much, much better investment than heaters, and is a once-off cost.
Oh yeah, +1 on the humidity thing too: a nice side-effect. No worries about any of your veh's or tools getting rusty or corroded for evermore !