The target temperature for On Route Battery Warmup is 40°C, based on a comment by a Tesla engineer at the V3 Supercharger test station when it first opened in Fremont. I think the battery will charge at max rate when that temp has been reached, which is not trivial in cooler weather and with only a 7 kW of heating from both motors. Based on Tesla Bjorn videos, the charge rate will throttle down below the optimum taper when the batteries heat to 60°C.
Like you experienced, I've also seen in his videos where the car is heating the battery very late in the charge cycle but I don't understand the rationale, unless it's as simple as it always tries to heat the battery to just under 60°C. You may have noticed, but after the charge session stops, the car then tries to vigorously cool the batteries. Based on this, it's clear the Supecharger protocol is optimized for charging speed rather than charging efficiency.