I'm starting to design my new cages which are a stackable modular format (48x24x18, 36x24x18) so I don't have to deal with an open top. The front door(s) are going to be some sort of transparent material pivoting out and down. The bottom pivot will be a 1.25" dowel with the glass set into that with a frame on three sides. I'm expecting this to totally resolve jamming with substrate and all related problems with other cage designs I've seen so far (some Uros love to dig).
If you mount your heaters inside the cage then you'll have less radiant heat loss into the room from the start, but you'll need to put more effort into protecting the animals from overheating conditions.
If you insulate the tank on all sides you may need to back up your heater with a thermostat to prevent flooding the environment. To maintain a hot spot you rely on continuously pumping heat into the container and often you expect to bleed part of that away. Insulation should promote a consistent average temperature in the environment, which really is not what we look for (gradient instead).
I've been replacing the lids on my glass containers and plastic bins with pegboard so there's at least some venting. I'm using the Megaheat units instead of ceramics for general efficiency and due to their focused nature there's minmal radiant heat leakage. No complaints from the animals and I've had them climbing on them with no harm.
I think if a Uro needs to climb to a heating spot it will, but you'll need to have soem sort of surface with traction in it to help- stacked rocks, tiles, a board with slots in it, etc. My hardwickii haven't been faring well on climbing a smooth board. Otherwise, my animals readily ascend whatever I put in their way. Generally, they prefer to sleep in the vicinity of the heater (under a rock under the heater) so you may consider accommodating behavior like that in your design. Probably helps them wake up in the morning 
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2.4.0 uromastyx geyri (Saharan/Nigerian)
0.0.4 uromastyx hardwickii (Indian)
3.7.0 uromastyx macfadyeni (Somalian)
1.3.0 uromastyx ocellata (Sudanese)
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