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Diesel motorhomes and certain luxury water craft have tackle this idea from a different direction and for a different purpose. They use the exhaust heat for domestic hot water, But you can use the same idea. What they've done is essentially created a tube within a tube with coolant circulation through thea coil in the domestic hotater heater. I'm not sure when it was first used but the GMC gas motor homes of the 1970s had it as a popular option. So oking at that literature may give you some ideas for the heat exchanger design.
Rather than route the coolant to a separate radiator you could route it back through the transmission cooler loop in the radiator, assuming you aren't using it to cool the automatic transmission already.
The trick would be to find the right fittings, fab up the heat exchanger, and probably a valve to close off the heating for longer trips where you would not want extra heat circulating back to the radiator.
If you are doing it up right you'll also need some tee fitting to create a "to" "from" loop to the expansion tank.
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