I do this for a living. If this were my new garage/shop, I would put 2" of high density extruded foam and vapor barrier under the slab, taping all the seams. I would install 3/4" radiant flooring PEX to the foam board using plastic staples. (I would install flat wire sheets on top of the PEX with ties for reinforcement; it also provides a flat surface to walk on during the pour.) I would place the PEX at 6" centers and keep all my runs equal length and under 300' per run. Technically the runs do not have to be the same length because the manifold can balance the outputs, but I would on my own garage/shop. For 3/4" PEX the runs must be under 300'.
Pressurize the PEX with air (air compressor) and hold the pressure at 100 psi for at least 24 hours to be sure that there are no leaks. Personally, on my own garage/shop, I would be sure it holds solid for 48 hours. There are issues with expansion and contraction of the air such that the pressure will appear on the gauge to go down when it cools and up when it heats (warm day air vs cool night air) but as long as the pressure stays within the same range at the target pressure of 100 PSI, then that's good.
Keep the pressure on the lines during the pour! Have PEX couplings on hand with the PEX tooling to install them. That way if there is a blowout in the PEX lines, you can stop the pour for 5-10 minutes while you fix it. (And it will be a blowout caused by the PEX getting hit by a shovel, etc.)
As for cost, the PEX and foam board are a fixed cost but money can be saved on the powerplant. Natural gas or LP water heaters can be used to generate the heat for the in floor system. The key is that the supply water cannot be higher than 95 F. This is crucial. There are resources on the internet where diagrams or videos show how to do this.
As always, do your homework on the finer points of how to install a system like this. And talk with your local HVAC inspector for any particular considerations to your area/location.