Industrial heat exchanger
What about an industrial heat exchanger?
Plumb to the hot water heater on the supply side and quick disconnects on the equipment side to the vehicle. Install check valve on the supply side of your WH. Insulate every thing as best as possible. This serves 2 purposes. Takes the heat off the vehicle in the evening (when you need it most) and warms your WH. In the AM turn on the pump (or put on timer) and preheat the vehicle.
Provides a closed loop system (health reasons).
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