I shot with my R5 for about five minutes last night and I noticed the grip and bottom of the camera was getting warmer. I did not see a temperature warning.
I made about 50ish frames using electronic shutter and mechanical shutter on high speed mode and AF servo while tracking our 10 week old puppy. I was using the RF 85 f/1.2 and ProGrade Digital 325 CFExpress Cobalt card.
I mention my experience only to say that the camera does (or at least mine does) warm up even after a brief session. I will hopefully be testing more thoroughly tonight, as well as this weekend (it's a long weekend in Canada), and I will report back with my experience.
Typically I tape my cameras with clear 3M tape as well as cover all the logos with black electrical tape. I do this prevent unintentional bangs from marring up the camera body, as well as to make the camera "look" weathered and less appealing to would-be thieves while travelling (I don't know if this really works as a deterrent, but I haven't been robbed yet! *knock-on-wood).
I'm more apprehensive about putting tape around this camera because of the heat concerns; my worry is that the tape, even though clear, would still trap in more heat and cause over heating faster.