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A few people have experienced this due to the firewall flexing more (& so the clutch master cylinder doesn't get it's full stroke) once the engine bay becomes hot.
Cold, it is stiff enough to not cause the problem.
If its a manual trans Its time for a new clutch .The reason is as the clutch disc warms up it expands giving you less freeplay or clearance meaning your clutch is not fully releasing .I had this same problem with my 84