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Of course... but ignoring the psychological boost as this probably varies from person-to-person, warm food/drink does give you a quick "hit" of heat but you also generate heat while digesting... Does the food being hot make a noticeable difference over 2-6 hours while you sleep?
Another cold-weather-sleeping tip, if you wake up cold and need to pee, go pee! You're wasting energy keeping that pee warm inside you, it's better spent keeping your other vital organs roasty toasty :)
I think I'll stick to cold burritos and the like...
Their veggie curry is 55kcal/100g not sure that's even worth eating!