Mines the 512GB Exynos version and I've had no issues with this one or the other handset I returned last month. My only "issue" would be it's camera in specific low light conditions where its outperformed by all past Samsung phones for at least the last 4 years.
If you could go for the reset where you clear the cache and partition on the phone. This should solve the problem. I had the same issue with s21 ultra. As advised by Samsung I cleared the partition by connecting the phone to the computer, switching off the phone till it reaches the battery charging icon on the phone. Hold the power button and olume up button till it shows the options to wipe the partition on the phone, volaaaaa the job was done and the phone never heated after that.
I don't know Mimo40 said their could be a bad batch that was sent out. I can only tell you my experience, the only time my device got warm was when I was setting up the device for the first time which is normal for all android devices in my experience. Hope you get the issue sorted. Clear the phones cache partition after every update, maybe you have conflicting software after each update trapped in the cache.