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When you spin a motor shaft by hand with the motor out of the car then no, its not going to feel like a bearing even though the shaft is riding on bearings. It will actually feel like a bunch of "clicks" (for a lack of a better term) because as you spin the shaft the motors magnets are still...

You really need a temp gun, even a cheap $16 dollar one from amazon. You can get your motor to 160F and thats ok but you wont be able to hold your finger on it so without a temp gun its really hard to say when you're "too hot" which is anything over about 160-170F. and about 150F for your ESC...