I don't think it will make a huge difference, and I don't think slightly hotter air would have too much negative effect, as you'd also get the positive effect of higher pressure inside the tire (and thus, less rolling resistance).
It is an interesting thought experiment though...I certainly don't know for certain, but I'd guess that the steady-state 'flow' inside the tire is essentially a rotating toroid with very little relative motion. In context, the surface of the foam will [presumably] increase the rate of growth of the boundary layer. If both the previous statements are true, its possible that the flow would achieve steady state sooner, which could mean less total energy was wasted accelerating/decelerating the air volume. Then again...since its the same volume of air in either case, it could be the same amount of energy is wasted.
Or then again, I could be way overthinking all of this and its totally a non-issue.