I would think the radiant heat would be a huge issue and the colder the planet, the more of a problem it would be.
Touchdown on Titan and most of the nearby "ground" would flash to vapor. Once the ship had cooled, it wouldn't be as big of an issue, but then the inside of the ship is at cryogenic temperatures, not comfortable for humans.
Unfortunately, this probably needs to be something that you ignore for most RPG's - or, you don't allow habitation on these colder worlds.
For warmer worlds (water ice), there are likely design techniques that could be used to keep the ground frozen (say down to -50C) - those leg struts on the Type-S might actually make sense in those conditions!
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