Tardigrades survive in lichens and mosses, usually associated with water flm on mosses, liverworts and lichens. More species are found in milder environments such as meadows, ponds and lakes. The are first known species to survive in outer space. They are virtually indestructible invertebrates; they can survive decades without water or. They are found in Antarctica under layers of 5 meters of ice , inwarm deserts, hot spring... For mor information consult https://allyouneedisbiology.woodpress.
I am not an tardigrade expert, but you may google and find some evidence that tardigrades can survive in hot spring water, but that they are less adapted to acidic conditions; see: Article Meiofaunal Richness in Highly Acidic Hot Springs in Unzen-Am...