If you think of the processor like a wheel that turns constantly. If you play a game, that wheel needs to turn more quickly causing more friction. Friction causes heat. The faster the wheel has to turn the more heat is generated.
As for how normal this is, I think the only time I'd be alarmed is if I physically couldn't touch my device due to the heat, or if the warning screen came on asking for you to let it cool down.
I too find mine gets hot after using TomTom but so far I have never seen the overheating warning screen on any of my devices even when running navigation for a few hours and the device does feel really hot.