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Does a woodstove count?
I usually just tough it out. No fire, no heater, just a tent, tarp, or bench seat in the cab and a very warm sleeping bag. I feel the key is having the appropriate equipment, clothing and wearing layers. On the other hand I'm getting older now. So when I do my Micro RV I'll be giving it a heating system. Likely a gas fired boiler from Espar. Diesel fired would be better, but then my 4x4 pickup has a gas engine.
It would be nice if Espar came out with a combo air & water diesel heater.