Looking for under desk heating to keep feet warm

Looking for a reliable way to keep my feet warm while sitting at my desk at home. Room is on bottom floor, so the air is warm, but the floors are always colder.

I currently use a basic space heater with fan, but it's raised up a bit so it mostly just warms my legs and not my feet, can't tilt it down or it auto shuts off. Looks like there are no options for a fan based heater that tilts down, guessing for safety concerns.

I'm thinking a heated foot pad would likely do the trick, but not finding a good/reliable/trustworthy one from online buying options. Searching online, found the Cozy brand foot warmer mats have good reviews, but they are not for use on carpet. There are a ton of foot-heating pads on Amazon, but looks like these are all cheap imports with questionable materials and components, and a lot with 1 star reviews because they stop working or caught on fire. Anyone got a good floor heating pad they can recommend?

Thought about just getting an electric blanket but would be way over sized. Also considering a heated Tatami style mat or an Infrared panel heater tucked under the desk - but I have zero experience with either of those. Any suggestions? Could spend $100-200 for something nice.