It's normal for the stepper motors to reach temperatures up to 70°C. If they get hotter than that, you should be concerned.
Have you oiled the linear shafts? The motors get hotter when the mechanical load on them is bigger (altough only slightly, because the motor drivers don't adjust the current automatically).
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Dim3nsioneer 558
I guess you will have to use the M907 command:
https://github.com/Ultimaker/Marlin/blob/Marlin_v1/Marlin/Marlin_main.cpp#L2941
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