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I also have a 3 mile one way commute. It's normal to get to work with engine temperature below 120 deg F on a cold day.
I just leave the heater blower on low all winter, the air selector on Defrost, and the heat on full hot. My truck is parked inside, so is slightly warmer than the outside air when I start out. The combination is enough to keep frost from forming on the inside.
If you park outside, then you have a challenge. Radiation to the night sky makes the car colder than outside air temperature. I'd try some sort of car cover first. It that's not enough, add some heat to the cabin. I'd try a 100 watt light bulb for an hour or two ahead of time and adjust depending on how well it works.
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