Okay, large volume for a garage, modest insulation considering the climate. You presumably don't want a long bench for a radiator, as there is usually not a lot of sitting around in a garage. Do you want to keep it heated at least modestly full time, or is your desire mostly for fast heat while you are working in the space?
My first thought would be a 6" batch box with a tall narrow bell for mass/radiator, located as close to the middle of the space as fits with your intended usage patterns. This would give a 2' to 3' wide x 4' to 6' long
footprint, depending on exact configuration. If you will often want to make it warmer for short periods, I would use a standard RMH barrel over the heat riser, followed by a bell next to it. This will take a bit more space, but increase the versatility. The batch box gives a long burn time without frequent tending, which would be important in a space where you are not spending hours at a time.
Look for "peterberg batch box" in the forums at donkey32.proboards.com for dimensions and details about the batch box style.