Multiple bulb chandeliers can draw a lot of power, be sure to confirm your switch can handle the load. That might have been the issue the first time. Generally slightly over ambient is normal, hot to the touch is not.
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It sounds like the Kasa being just over ambient may be reasonable. Just for safety sake, what is the bulb wattage in the chandelier and how many of them are there? Are they incandescent lights?
As others have said, always stay within the wattage rating of the switch.
Also, when there are 2 switches in a j-box, both dimming, the switches may be even warmer. Again, never to the point of being uncomfortable or worrisome. If you have options like it being a 3-gang and you can put a non-smart switch between two dimmers that isn't a bad idea though it will probably annoy everyone at first because of the change.
I would get a digital amp meter and ensure the current is within 80% of rating. If the switch is rated 15 amps, ensure your only loading it to 12 or less.
Unfortunately, that is normal. We've had Kasa smart plugs for five years. They get a bit warm when in use. Amazon smart plugs doo as well. I don't know why, but these smart devices get a bit warmer than normal devices when in use. Nothing to be concerned about, Our first smart plug was purchased in October 2018 and its still being used to this day. I just yesterday pulled out another smart plug that hadn't been used in almost a year, and hadn't had a load on it since like 2020. I set it up, and it is now controlling a box fan in our living room. I can't comment on any of the smart switches.