DIAGNOSIS That heat is coming from the motor and gearbox. On the FUEL model, it's normal for that area to get quite warm under load, but "super hot" quickly on easy tasks suggests excessive friction, often from old or low grease.
FIX First, rule out operator error. Are you using the correct speed (gear) for the job? Using high speed (gear 2) for driving large screws or drilling big holes makes the motor work harder and heat up fast. Switch to low speed (gear 1) for high-torque tasks. If you're already in the right gear, the gearbox likely needs fresh grease. This is a more involved teardown, but often just adding a bit through the chuck end (as described in the hammer noise fix) can help lubricate the front bearings and gears.
IF THAT DIDN'T WORK Excessive heat can also be from a failing bearing or a motor brush on its way out. Listen closely for any high-pitched whining or grinding that accompanies the heat. If it's just heat with no strange noise, it's probably just hard use. Let it cool down between battery changes.
HEADS UP The FUEL tools have a built-in thermal protection that will shut the tool down if it gets dangerously hot. If you're not hitting that shutdown, the heat is likely within design limits, just uncomfortable. That area is basically where all the mechanical power is converted, so it's the hotspot. Using a sharp bit and not forcing the drill excessively is the best way to manage heat.