Our rig:
1997 Ford CF8000 housetruck.
The commercial box measures 7.5w x 12.5long x 7h box. About 650 cubic feet.
Our situation:
We boondock exclusively.
RVing Perpetual Travelers, we designed our rig for safety and comfort. We investigated underfloor pads; comparing output to battery-burn dissuaded us. However, we are open to suggestions.
Here is the way we engineered our TinyHomeOnWheels:
Inside the box, the first layer of insulation is acoustic.
Second layer is pink foamboard.
Third layer is two-inch foil-covered foamboard.
Our windows are 2x1 sliders, dual-pane, eye-level while standing inside. About eight-feet above ground level.
Our visual floor is bamboo around the perimeter, slate tile down the middle. Socks in winter isolate our tender tootsies from chilly floors. Coincidentally, we wear socks to bed, so no big.
Our rig stays comfy with one of a pair of catalyst heaters. We rarely crank-up the furnace. On three walls, three of our four windows are always open a quarter-inch, more if we get hot. Cross-flow reduces humidity from breathing cooking showers.
Propane is cheap and efficient, but requires two CO detectors plus two smoke detectors, each from different manufacturers. Cross-redundancy.
Our inside temperature tends toward keeping pace with outside temperatures. Instead of maintaining a constant 68F in winter, we internally adjust our body requirements by keeping the rig cooler. This mitigates the shock of stepping outside; the transition from dry warmth to damp cold stuffs-up my sinuses... and we can't have that.