The floor is probably the least important to be insulated in terms of overall heat loss, it’s more that you don’t want it being cold if you want to be in there in your socks. I’d go for the 25mm+ celotex, be fine strength wise
Take the floor boards up. Put insulation between the joists. Put a vapour barrier over. Put floor boards down, re-using the boards if they can be used - if not then replace them.
I don't think there's really a way of going forwards without going backwards, you can't retrofit without creating problems. It should have been done properly in the first place.
Spray foam would make your floor rot and would be heaven for rats and mice. I had an internal room with polystyrene under, it had one 1" hole into the adjoining garage (with gappy door) and had the mouse equivalent of coronation street carved into it - a tunnel with branches off, all pickled in pee and stinking. One wandered out looking sleepy when I pulled the floor up.
Hopefully suspended celotex that was carefully fitted wouldn't be too inviting but still could happen. But random squirted foam definitely would be useful to them.
The floor is probably the least important to be insulated in terms of overall heat loss, it’s more that you don’t want it being cold if you want to be in there in your socks. I’d go for the 25mm+ celotex, be fine strength wise
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