Not sure around you but also double check the soffit vents are actually open. My 60 year old garage had every soffit covered entirely in plywood so no air was coming through the vented soffit sections. Lucky i checked before getting too far along.
I just completed a similar job in my garage and ended up with basic thick batts, and some rigid foam. It's been awesome, no ceiling and no insulation to both was a huge change on its own in a similar climate to yours.
Foam is great and easy but $$, we used it indoors before and for us it is $3/sqft. It definitely costs more but I'm certain it's a superior option. One of the biggest benefits that isn't mentioned ofren enough is you can put it almost anywhere without additional needs for framing, furring, vapour barrier, venting etc. All things that bring the effective costs down and ease up, plus it's a hire out job.
Good luck whichever way you go, and lastly a good heater can overcome bad insulation [emoji3]
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