We were there 2 years ago, and, yes, the heat and humidity were challenging (end of February), but we stayed close to the site so we could cool off in the pool at lunchtime. https://www.templation.asia There is probably a slightly cooler time of year to visit, but we were combining Cambodia with Taiwan and Vietnam, so we needed to strike a balance there.
We booked the same guide for our entire visit, and he helped us to plan our routes (we wanted to avoid crowds). On the day we visited the inner circle, we used a tuk tuk. It was cool enough when it was moving, because of the breeze the movement created. But for the day we were visiting the outer circle, and for other days that we went farther afield, we had a car (with air conditioning) and driver. The air conditioning wasn't the greatest, but it was better than no air conditioning. Also, our driver packed along wet cloths scented with jasmine, and he gave us each a fresh one every time we returned to the vehicle.
We didn't go to Phnom Penh, so I can't comment on that.
I did think the temples were worth seeing. (We've also visited Machu Picchu, Chichen Itza, and other temples, but I don't think they're comparable--different cultures, different experiences--and all are worth seeing.)
Here is my trip report, in case you might find it helpful: https://community.ricksteves.com/travel-forum/trip-reports/trip-report-taipei-vietnam-and-cambodia