iPad is overheating without actually being hot

As described, you may have a hardware fault - but before exploring that possibility, there are some steps to try before reaching this conclusion.

Begin with a forced-restart of your iPad - as this will often clear an isolated software issue:

Force restart iPad (models with Face ID or with Touch ID in the top button)

If your iPad doesn’t have the Home button, do the following:

1. Press and quickly release the volume button nearest to the top button.
2. Press and quickly release the volume button farthest from the top button.
3. Press and hold the top button.
4. When the Apple logo appears, release the top button.

Force restart iPad (models with the Home button)

Press and hold the top button and the Home button at the same time. When the Apple logo appears, release both buttons.

If the problem persists after performing the restart, it may be necessary to reset your iPad settings. While this reset will not cause any loss of data, as a precaution, it is always wise to ensure that you have a current iCloud or iTunes backup before performing the reset:

How to back up your iPhone, iPad, and iPod touch - Apple Support

When you are happy to proceed, you can perform the reset from iPad settings:

Settings > General > Transfer or Reset iPad > Reset > Reset All Settings

If the problem still doesn’t clear, the next step is to reset the iPad to factory settings:

Restore your iPhone, iPad, or iPod to factory settings - Apple Support

If these steps do not resolve the problem, you might be well advised to seek assistance directly from Apple Support. You can contact the Support Team using the Support link at top-right or bottom-left of this page. Alternatively and perhaps easier, you can initiate and manage your support cases using the excellent Apple Support App. If not already installed on your iPad, the App can be downloaded from the App Store:

https://apps.apple.com/app/apple-support/id1130498044

You might also visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) - where the technicians will be able to hands-on test and assess your iPad. If a hardware fault is confirmed, you will be in the best possible place to explore your available options:

Genius Bar Reservation and Apple Support Options - Apple

If you have tried everything listed above without success, including seeking diagnostic assistance from the technicians at an Apple Store AASP, you have exhausted available options.

As such, the conclusion must be that your iPad has developed a fault - for which the only practical remedy is replacement of the iPad.

It might just be where your iPad Pro is wearing out its CPU and needs to be kept cool.

If this is not the case take it to a Genius Bar.