2017 Ford explores sport

Most likely the catalytic converter heat shield has fallen off. You need to replace it or the car could catch on fire.

Yes a missing converter shield can cause excessive heat. But an engine or fuel control problem can also cause it and will melt down the converters. So check under there and see if the shields are damaged or missing but if they are intact then it time to get it checked out before it becomes really expensive.

DO NOT CONTINUE TO DRIVE THIS VEHICLE BEFORE GETTING THE HEAT PROBLEM CHECKED OUT. Go to an exhaust shop-they will know what things to look for. It can be CAUSED by any number of things-even by a rodent chewing the 02 sensor wire and having the engine default into a "run rich" condition to prevent engine damage. A the most important thing to know is that anything that causes the heat damage you describe can EASILY cause a fire-EVEN AFTER THE ENGINE IS TURNED OFF. It MAY BE a simple exhaust leak, but there is a fair chance that your catalytic convertor is partially clogged, (usually from burning too much oil) or is just overheating-(possibly from the engine running too LEAN.). OR that you have a partially blocked exhaust system somewhere PAST the convertor. (this can happen if you partially crush or dent an exhaust pipe-even from simply running over something on the road.and having it bounce up in the right way to hit a pipe. When ANY of these is the case, a convertor can literally get RED/ORANGE hot, and can easily cause a fire-EVEN AFTER THE ENGINE IS SHUT OFF. I had one convertor overheat like this and I got a warning in time because it was burning the undercoating off the bottom of my car and LUCKILY the smell is what alerted me. When I shut off the engine and looked underneath, the convertor was glowing red/orange and melting the tar in the asphalt pavement below it.