I’d look at putting a ‘warm roof’ on the garage if you’re insulating – insulating between the rafters means you have to try and seal the whole ceiling to stop condensation forming problems.
If the walls are dry I’d go with a kingspan lining but maybe leave an air gap between it and the wall+top and bottom to give a bit of air circulation and avoid damp issues.
Pu t a few air bricks in top and bottom to encourage air flow.
Also insulate the garage door.
Problem is every time you insulate a buildign like that it’s a battle to achieve a good thermal insulation and at the same tiem avodi condensation and damp issues.
You could do less airflow and then run a dehumidifier in there to keep moisture levels down.