Slab Insulation for Garage with Radiant Floor Heat

I started construction of our home in climate zone 6. The basement slab will have r10 sub slab insulation with pex within the slab. I would like to heat the garage the same way. Is r10 sub slab enough? Should I put some rigid foam against the frost walls as well? If so how much? I’m open to ideas.
The walls will be about 10 ft wall, 2×6 with a vapor retarder and batts, r5 on the exterior. My footings are formed and walls will go in next week.
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