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You can heat lithium batteries by applying 60hz+ AC current

AC current does not form dendrites

If you know the resistance of your pack you can use this to approximate their temperature (along with a temp sensor) as the pack temperature increases you can start biasing toward DC, once thawed you can charge as normal and the act of charging will warm them.

BEWARE - I do not know what affects this will have on their longevity but it does warm them.
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