Disclaimer: I do not have any experience with garage doors, but...
The rule of thumb I was told back when was to design for 10 cfm of OA per sf of door opening. So this is the calculation I use for vestibules etc. This oversizes the heating system near the door, but keeps the place when the doors are open for long periods of time. You can makde it samller, but it will just be on longer to re-reach setpoint in my opinion.
knowledge is power