One thing that can be done to help negate the symptoms of intake motors overheating, aside from fixing the underlying cause (cough friction cough), is to be able to quickly swap motors.
First, attach the motor body to the motor mounting part with Zipties and rubber bands, instead of with the screws the are usually used.
Then, acquire an additional pair of V5 Smart Motors, and remove the motor bodies from them.
Keep these in your toolbox.
When your intake motors begin to overheat, cut the zip ties and remove the overheating motor body. Swap in one from the toolbox and secure it with zipties again.
Use freeze-spray to cool down the warm intake, once it is no longer on the robot. This is to increase the speed of the cooling process.
Repeat the process.
This is a helpful trick that my team uses when our intake motors decide to not. I hope some find it helpful.
But remember, this is a
cheap $60 and easy solution. The best way to permanently fix your issues is to reduce friction. The VEX Youtube channel recently released a video about that.