Shore power heat of batteries, absolutely, especially if parked outside in the winter and you have power available. ... If you don't have that and leave Minnesota with them in cold shut down and not in a heated area you can't get them back online or have 12v power or 110v to van until you get to a warm enough area to thaw them out and that can take a while if it is only 10* above their cutoff point.
My battery heaters have been (and are) 12V heat pads powered by the batteries, which means that I have to supply external power to the camper in winter. Keep it plugged in and all is good.
It does take much longer than I expected to un-freeze a very cold lithium battery using either the built in heat pads and/or the camper's furnace. That's an argument for continuously heated batteries and continuous 120V power in places that have severe winters.
The other issue is that even with batteries that have low temperature cutoff, the temperature sensor(s) are likely not in the center of the cell pack, but rather near the edge or on top of the cells pack, so the temperature that they measure will not necessarily be the temperature of the center or bottom of the cells. When warming a frozen battery, that needs to be considered. Depending on the location of the heating pads, the low temp cutoff could allow charging of a partially frozen battery unless there is sufficient time for the center and bottom of the cells to warm.