iPad 5 M1 chip overheating
Why does the chip this device overheats, while my much older iPad chip doesn’t overheat doing the same thing?
iPad Air, iPadOS 16
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What leads you to suspect that the CPU/SoC is actually overheating?
If your iPhone or iPad gets too hot or too cold - Apple Support
It is not unusual for an iPad to become warm when being used - or when charging - more so when using some types of iPad case. High screen brightness and/or CPU intensive Apps will also create more heat.
The key point is that whilst your iPad may become very warm in normal use, the iPad should not become uncomfortably hot to handle. If your iPad is becoming too hot to hold, you should take your iPad along to the Genius Bar at your local Apple Store - where the technicians can test and assess your iPad for faults.
Genius Bar Reservation and Apple Support Options - Apple