We investigate a class of periodically driven many-body systems that allows us to extend the phenomenon of prethermalization to the vicinity of isolated intermediate-to-low drive frequencies away from the high-frequency limit. We provide numerical evidence for the formation of a parametrically long-lived prethermal plateau, captured by an effective Floquet Hamiltonian computed using the replica inverse-frequency expansion, and demonstrate its stability with respect to random perturbations in the drive period. Considering exclusively nonintegrable Floquet Hamiltonians, we find that heating rates are nonuniversal: we observe Fermi's golden rule scaling, power-law scaling inconsistent with the golden rule, and non-power-law scaling, depending on the drive. Despite the asymptotic character of the inverse-frequency expansion, we show that it describes the thermostatic properties of the state all along the evolution up to infinite temperature, with higher-order terms improving the accuracy. Our results suggest a dynamical mechanism to gradually increase the temperature in isolated quantum simulators, such as ultracold atoms, and open up an alternative possibility to investigate thermal phase transitions and the interplay between thermal and quantum criticality using Floquet drives.