Recovering the heat is an interesting idea. Google has 9,090,000 results for "heat exchanger" so there is probably a way to do it.
I understand some of the new high efficiency home furnaces do that.
The fridge, water heater and the furnace cycle for various times so it's not a constant heat.
Piping the exhaust gasses back into the TM then into a zigzag or radiator then back out at the top would work, but as MisterP was saying, ANY LEAK could be deadly.
You also would need a way to get the hot gas back thru a wall without lighting the Styrofoam.
Adding any pipes to the exhausts might require some engineering for safe volume / air flow.
Plus you would have to remove the radiator stuff to fold the TM for travel.
An external heat exchanger box against an open window might also work. No new holes in the TM.
So far I think it is too much work for the benefit.
Simply bringing an extra battery/generator and propane is the easiest and probably the safest solution.
There are other posts here and in various pop-up (tent) camper forums that discuss insulating your camper.
Just ask if you need references to them.
ps.
A 70 kg person generates about 222 btu/hr at rest, that same person generates 65 watts at rest and more if active.
So get lots of close friends.
Just 23 friends will provide a 5200btu/1500watt heater.
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