I think in temps above about 20 deg F the heater is not needed at all. Not even a consideration IMHO.
When the temps are in that region I never have the patience to wait for the grids anyway. I just fire up and go as soon as the oil P starts to register.
In those temps the engine does not start on the very first compression stroke like it does in warmer temps... the engine may crank one revolution or so.
Yes it smokes a bit, but so what.
I have not tried in lower temps without waiting for the grids to work, but I imagine it would start if the battery was strong enough to spin her over good.
With 2 good batteries it will have no problems.
Greenleaf doesn't drive his truck in the winter ( :-laf ), so he doesn't need the heaters.
I have my boat grids disconnected (on a 6bta) because I only boat in spring/summer/fall(

)
Usually glow plugs are put on engines with higher compresion ratios that our engines have. My experience is that engines equipped with glow plugs MUST use them to start.
One exapmple... I have a genset on my boat ... . 3 cyl, 8 hp engine... I must glow it even in summer or it won't start. My old VW was the same way. Both these engines have compression ratios in the 20+:1 range.
The Cummins is like 17. 5:1
Jay