To limit the heat/cold exchange with the outside, in the trunk area, I would follow some of the suggestions already made, that involves cardboard as a building material.
I might try to make the cardboard into a shape where my sleeping bag/feet would fit into, without making it a tight fit at all.
The goal would be to limit the exchange/escape of heated/cold air with the exterior of the car/outside, but still allow plenty of space around your body, so any moisture/sweat from you body, has somewhere to go, and will not be trapped close to you, or in the walls of your sleeping bag.
Very close to your skin, I would follow Bob's advice, to use layers that would aid in keeping damp/sweat/moist away from you skin, but allow heat to remain with/close to your body/skin.
Water can absorb a lot of heat. So any dampness or moisture very close to you will be able to simply suck heat away from your skin.
On the other hand, that heated/moist air, should remain in the car/your sleep box, long enough to exchange the heat, and just let the remaining moisture get out. Or everything becomes damp, and near impossible to heat. So a certain level of ventilation is just as important, as not trapping the moisture entirely.
Wool is a magic material when it comes to managing/handling things like heat/cold and sweat/moisture. So I would use wool socks and wool sheets/plaids/sweaters, in combination with other modern materials.
Wool can do that magic trick, of trapping heat, and allowing moisture to condensate, without the wool becoming soaked in or absorbing the water. So you could say that wool allows the moisture to escape, but it keeps in the heat.
Again Bob has listed the good clues, of how to use first fleece (or similar) and then wool.
I have all my life had issues with keeping my feet cold/warm, so I only use socks with a percentage of wool in them.
To keep my feet cold/warm, when in my bed, I alternate my blanket/duvet. Meaning, I get under the covers, and allow my body to heat my cover (for a few minutes), then I spin my cover, so what used to be at my feet, are now over my chest.
This gets my feet warm!
And I repeat this process a few times, until my feet and legs feel warm.
This is one reason I never use a sleeping bag. And one reason that I would need to build a cocoon, if I were ever to sleep many nights, in my car or tent. I would need that cocoon, so I could keep all my sleeping tools warm.
It is very likely that I would make my first car-cocoon from cardboard and duct-/package-tape. To get a good idea about optimal shape. To find that balance between a limited space to keep warm, and enough space to freely move and allow moisture to get away from all my sleeping tools.
Whenever I can not use my usual methods of how to manage my feet/leg temperature, then I am a great fan of electric heating blankets.
So I own several I can use when on shore power, and several of those loose car seat heaters.
Adding one of those car-seat heaters into the mix of layers I use to wrap around my feet and legs, does wonders for me. I only need to use it for maybe 10 to 20 minutes at a time, and it will help to produce the same result as when I use the cover-svirvel-trick to use torso-heat, to bring a warm duvet down to my feet/legs.