For best longevity it's always good to let them cool down to ambient.
"Ambient" is a bit vague. I'd say let them cool to below 90 degrees F - since "ambient" where I am might be 100-104 or more, depending on how long the car's been sitting there.
DJI has guidelines that are still in effect: Comprehensive DJI Battery Guide
Post-Flight and Charging: After your flight, let the battery cool for somewhere around 30 minutes. Set it on a shelf or table; just make sure it has some air flow. Let it cool to around 20 Celsius/65 Fahrenheit, or to when it doesn’t feel warm anymore. Charging the battery directly after a flight harms the cells and shortens the battery life. If you are planning to fly again within the next couple days (three max), charge it fully and you are ready to go.
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