Yes, I've done it with a Camelback. I don't take it anymore due to weight, though. Make sure any bottle you use is BPA free. Doesn't matter much for normal use, but the hot water would assist in releasing BPA if it were there. This is what the Camelback guy told me, and he shipped me a free one when I asked about that very use with my older Camelback.
Now, I use the small Nalgene which I find less obtrusive and all you really need is the bump in temp for your bloodstream when you first get in, and then your insulation system should take over from there.
Oh, and no, the water never gets cold. It gets to a point where its not doing anything to warm you, but its not making you cold either. If it started getting cold, I would think the cold would make you wake up and ditch it well before it ever got cold enough to produce condensation.
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