We have tiles completely on the ground floor, yes the tiles are hard and it makes quite a splash when our little one kisses the floor with her face but outside it is no different, there the asphalt lichen is added.
We also have play rugs lying around, unfortunately Lotti can't read and is not a dog that you can banish to a corner :D
The ground floor is "actually" warm, we only have problems with the heating circuits. Because the doors are always open, not all heating circuits always turn on, the thermostat draws the temperature from the adjacent hallway or the still open kitchen. So in winter it does happen that part of the tiles is cold.
But this is less due to the tiles and more due to our "living habits"
In the study there is a rough carpet on the tiles, the room also gets warm.
In the attic we have laid laminate, the rooms also all get warm.