Not everybody buys the best hardware in class. Most hardware is cheap Chinese garbage for which the only qualification is that it isn't bad enough to be brought down from Amazon.com.
Go explain your grandma or girlfriend why the charger they bought damaged their laptop irreparably.
Then any amount of dirt in the connector can cause whatever heating it likes, but the device can always calculate how much heat is being dissipated in the connector.
The advantage of USB2 is that it's very hard to screw up. The design is so simple that even the cheapest cable is usualy "okay" because making an "okay" USB2 cable is so simple.
In contrast, making a USB-C cable is much more difficult, which means unscrupulous manufacturers flood the market with bad cables that fail with disastrous side-effects.
If my iPhone tested the cable was up to spec before charging and said "error, bad cable" if any test failed, then china-cables would be forced to pass all the tests.