In my experience, the #1 best thing you can do to prevent frost heave in pavers is address it as a water management issue first, "depth of stone" second. The ones who don't pop up during freeze thaw are the ones that exclude water from the base and move it off quickly.
Most durable base prep:
Free draining/opengraded base over good subgrade, as separated where defensible is what I observe hold up best.
Dig out to remove the organic/soft stuff, and regrade so water doesn't pool in the structure. As important as the base is, good falls also matter.
Separated fabric (geotextile) when subgrade is silty or clayey, to prevent fines pumping up into the base and interfering with drainage. I hate "blanket geotextile everywhere" where it holds water inside some soil, but as a separator for weak or fine subgrades it's a substantial durability upgrade.
With the right compaction, open graded aggregate base material will outperform dense graded bases in frost areas because it retains its drainage and is less likely to trap water to freeze and expand.
In only the very cold, wettest places; The best upgrade would be to introduce a means of drainage along its length. This could be edge drain, daylight outlet or connection to an effective soakaway system, so that water that will fill the voids at least has somewhere else to go.
One installation trick I swear by:
Stiff edge restraint, adequately anchored and placed prior to final compaction.
For most of the winters I have seen, joint spread that would occur after the winter began at the edges where a field could creep. Tight laying patterns and proper compaction, combined with a strong edge restraint, keep the entire mat locked.
If you need a second "can't skip it" detail: mechanically compact the pavers in stages and replenish jointing sand after pounding. The expansion and contraction caused by freeze thaw forces will open up any joints that were underfilled to begin with.