I ended up using wall timer and just ran the heat at 30 min intervals (30 min on, 30 off), and I set the timers for the times I knew it would be under 30* (had to check Accuweather.com for hourly temperatures). I also got a more efficient heater, an electric heater fan instead of a radiator-type heater. All in all my bill was only $14 more than usual, so it seemed to work. If I am still in this garage next winter, I'll be looking into a thermostat instead as well as the other ideas for insulating and heating. Thanks all!
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