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Overheating is putting it too strongly. The Switch gets warm when it's running, and that's normal, but there's a difference between normal heat and actual overheating. The console operates in a plastic case without active cooling, so its back will be warm, especially if you're playing demanding games for hours on end or leaving it out in the sun. If the case is just hot but doesn't burn your hand, you're probably fine.
The problem starts if the console shuts itself off due to overheating, or you notice a drop in performance (frame drops, lag that didn't happen before), or intense heat around the battery area. This could mean the ventilation slots are clogged with dust, dirt has built up inside the case, or the cooling system itself has worn out. Try cleaning the grilles with a can of compressed air, make sure you're playing in a well-ventilated spot and not under a blanket on your bed.
If the overheating comes with errors or shutdowns - that's something to worry about, and then you should either take it to a service center or at least check whether the console took a hit or got exposed to cold before. When exposed to cold, lithium-polymer batteries lose capacity and then generate more heat afterward.
Does the console make a louder humming sound than usual or shut itself off? If it's just warm, that's actually normal, but if you're seeing clear signs of overheating (lag during gameplay, shutdowns), then you should check whether the vents are clogged with dust and give the console more air around it - don't play in a tight case and don't put it on soft surfaces like pillows or blankets where airflow gets blocked.
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