In my case, my iPhone 16 Pro was running iOS 26.5, and the phone would get quite hot just from using one or two apps, and sometimes while charging as well. It had never heated up like this before, and I didn't experience this during the first few weeks on iOS 26.5.
I decided to update because the amount of overheating simply didn't make sense. I don't usually install beta software, but I decided to give it a try. Since updating to iOS 26.6 Beta 2, the phone runs much cooler, battery life is noticeably better, and I'm getting around 4.5 hours of screen-on time with 50% battery usage, or roughly 10% battery drain per hour with a mix of Wi-Fi and mobile data.
Overall, the system feels just as stable as iOS 26.5, if not more so. I haven't experienced any crashes, RAM management seems good, apps aren't constantly reloading, and wired CarPlay works perfectly in my Hyundai.
Personally, I haven't noticed any issues with screen brightness calibration that I would consider annoying.
Of course, running a beta always carries some risk, but if you're experiencing overheating on iOS 26.5, I'd encourage you to give it a try—just make sure to back up your device first in case the beta causes issues for you after installation.
Hopefully things will continue to improve and not regress by the time the final version of iOS 26.6 is released.