I know you're not supposed to directly insulate the roof due to the roof getting super heated in the summer, but my walk-in (actually, more like "crawl in") attic is very hot in the summer and very cold in the winter. Is there anything I can do to improve efficiency? I can't help but think I'm wasting a lot of energy just to keep my roof lasting a little longer.
You can avoid the condensation problem by simply leaving a minimum 2'' gap between the roof and the insulation. You need to fix battens on to the rafters ( at least 2'' from the tiles ) and then fix blanket or rigid insulation tight between them. The battens will maintain the air space. You then need to fix a vapour barrier over the whole thing and finish with plasterboard. No small job to do it properly ! ps you need to check the condition of the roof before you start and fix any loose tiles etc Alternatively, turn the heating up and wear a thicker sweater.
The reason you do not put insulation directly on the underside of your roof is all about moisture and mold. You need an air gap between the roof and the insulation and allow it to breath. This prevents moisture from condensation that can cause big problems. You could install a radiant barrier that reflects the heat. Do a google search to learn more about it. You could install and attic fan to suck the hot air out in the summer. Most important is to make sure the insulation on the attic floor is the proper thickness.