I guess you could put in a coolant temp switch that turns on a block heater when the coolant is below a certain temperature, say 150F, maybe. Run a 120v one off an inverter, or look for a 12v one. It wouldn't harness exhaust heat, but it would speed warmup (to an unknown degree).
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Whether or not it would help overall mileage may depend on the efficiency of the alternator, the relative efficiency gains of warmer coolant, driving cycle, etc.