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I had that experience in my Prius. The iPhone got rather warm then the display would flicker a bit. I turned off the wireless charger, but I still keep my phone there. Over the long term heat is not good for the battery. I keep a cable in the car if I need to charge the phone (rarely) or for when I want to use CarPlay.
 
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Yes wireless charging makes the phone warm. At the same time these devices are build to be used that way hence no need to worry.
 
Just an FYI. I use a ProClip mount with an Apple MagSafe charger. The mount is a vent mount so it sits high. When out in the sun the MagSafe charger gets hot and won't charge the phone until it cools off....

But it doesn't seem to automatically start charging. After a bit of time with the A/C blasting on it I need to unplug it from the cig charger and plug it back in.
 
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