I have a heated shop, 54 by 120, and we did not put in infloor heat. I do not regret it in the least. We DO have in floor in the milking parlor... it is way more fussy as it seems there are always boiler issues.
When we did the shop, the in floor heat was an extra 17k just for the tubes. We bring in a lot of really heavy stuff, so potential for cracking and shearing a tube was a concern.
As far as a cold floor, we insulated around the edge of the shed, and have no issues. Being we keep the shop 50-60 degrees all winter, the concrete pad never really cools off.
I've heard some complaints that in floor is slow to recover after having the door open, and then others refute that.
Being you have a boiler, go for it. Be sure to insulate the pad, and use enough rebar that settling isn't a problem. If you didn't have the boiler, though, I wouldn't do it.
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