16" MacBook Pro Thermal Issues

I've had my 16" MacBook Pro for a while now and love the performance that it brings and many other things about it. Other than the storage, my model is maxed out in the specs department. I know that individually the i9 CPU and the Radeon 5500M get quite hot and together I've noticed that my computer is always pretty warm. Recently I've had some very concerning problems with the Mac as whenever I close the lid of the computer or leave it open but walk away fro the Mac, I often come back to find that it has "restarted because of a problem." along with the Mac being incredibly hot. I have looked into the problem and have found that I have a process labeled "Kernel Task" This is what is causing my computer to run up against 200 degrees. Doing more research Kernel Task is in place to monitor the heat being created by components of the computer but most specifically the CPU. This has happened many times and I was wounding if anyone had a work around or a fix. I am running the most recent software update macOS Catalina 10.15.5 (19F101).

Anyone that is able to help please do so, I'm very knowledgeable when it comes to Macs but can't figure this out, I had this problem over a month ago and though Apple had released a software patch fixing the issue.