As someone who owns a cabin on the southern edge of zone 7 that has had a number of frozen pipes over the years, it is definitely something to be concerned with. Since we are only there part of the time and when we are there, there is enough heat radiating into the crawlspace to prevent freezing, we just pour RV antifreeze in the traps and toilet and have a series of drain valves at low points of the plumbing to remove standing water before we leave.
If it were me, I would make sure to insulate the bottom of the floor and keep the piping between the insulation and subfloor so it is within the heated envelope of the unit above the garage. You can't do that for the water supply lines coming up from underground to the unit above though. For that, especially in the zone you are in, I would make sure they are well insulated and I would just crack open the faucet to a slow dribble on those really cold below freezing nights. If it were a sustained cold snap coming my way, I would have a space heater that you could turn on just for those few days.
As stated above, installing a good quality insulated garage door will go a long ways towards retaining enough heat to perhaps prevent freezing in all but the coldest days. Although I don't think it is allowable in many codes if any anymore, my house was built with an hvac register in the garage so every time the heat kicks on, it throws some heat into the garage. I live in zone 5 and this is enough to keep the garage above freezing all year round.