I don't have a cambro, we use a Carlisle, but they serve the same purpose. I heat mine up with a pot of boiling water only if it's cold out (like maybe below 50). If the the ambient air temp is warm, the hot food itself going into the holder will heat and keep it warm.
I'm not sure if it helps or not, but when the holder is empty and the I am putting the first tray of cooked food in, I always put it in the top slot - so the heat coming off the top of the tray hits the ceiling and hast no where else to go. Just using the logic of heat rising I guess.
The vent you have is to release steam, should the food be so hot that it steams itself and make stuff soggy. I don't have one on my Carlisle, but it's never been a problem for me anyway.