Get a 12 VDC electric heat throw blanket from Amazon and put it inside your sleeping bag. The one I have has a 30 and 45 min shutdown feature that I have never used at more than 30 minutes. It pre-heats the sleeping bag, Large 2 person, for the entire night at below 30 degree nights. I just wired a marine 12 VDC outlet to the top of my JK and plug it right in. I also have a Genesis dual battery set up. Using the throw for 30 mins at bedtime then 30 mins before getting up never took the accessory battery below 11.8 volts.
Just my 2 cents.......
This is supposed to be pretty efficient. Heated mattress pad that warms you up from the bottom so your covers help hold the heat in. It’s maximum current draw is 6.3a, but it says the average use is 3a. It has a 1-7 temp setting and it automatically regulates the temp based on the setting.
https://cozywinters.com/shop/ew-rvhmp.html