Does the ESP-32S thermal/ground pad need paste/soldering?

[electronicsguy]

Good point ! I agree the chip should not be working at 140 C. The esp32 chip is shielded in a metal housing.
You will not feel the heat produced in the die on the metal housing and that metal part, which seem not to be attached to the thermal pad, already gets warm.
I am reading these values with the function "temprature_sens_read()". It would be good to know what is read out with the
function ? Should it represent ADC values or a temperature close to a defined unit (C/F) ?

If you have access to one, definitely use a non-contact digital thermometer to check. It'll give a clearer picture.

[ESP_igrr]

temprature_sens_read (sic.) returns ADC counts. To convert these into degrees C you would need to perform some kind of calibration by measuring the temperature with an external tool.