If there's a window in your garage get a window unit. If there's not and you can manage it, run an exhaust duct outside for a portable AC. You can do it with a dryer exhaust through the wall, and you'll just need that and not a dual hose with intake because it's a garage. Don't cut into you're existing house ducting. 85F is really not that bad for a garage, maybe one of those giant heavy duty garage fans might be enough, but just glancing at the pricing it's probably better to go with an AC if possible.
I've been looking at that radiant heat paneling too. I'm due for a new roof in a couple of years, I'm definitely going with lighter colored shingles than the pitch black ones that are up there now and see how that goes first I think. All this was done 15 years ago so that's a consideration, but man the more I look into it the more I see just how sub-optimal my hvac system is. Leaky ceiling, leaky ducts, return mounted in ceiling, no attic exhaust, and I'm sure everything is under-insulated for the conditions up there. Really should have moved on addressing these things sooner.