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Hey buddy, currently working on a project similar to what you're asking. A client wants underfloor heating upstairs. I've suggested to them overlay floor panel underfloor heating from polypipe. This stuff is pretty thin (around 10mm I think) so won't take anything noticeable off your floor to ceiling. You do however have to sit it ontop of an T&G flooring grade plywood but still thats only like 28mm without whatever floor finish you're going for.
Send me a message if you'd like to know more would be happy to try and advise as best I can
On1
Definitely want to keep the existing floor, but the joist fitting version looks like it might be suitable for that