You will need an arrow gripper of some form, Ivory works well on the arrow, I used silicone lube spray on an arrow greaser. As people have said, target brands make a difference in the foam density.
The finish on the arrows you use, makes a difference also. Some carbon arrows have a rough finish, and will stick really bad, aluminum is your friend in that regard.
Pounding them into a 20yd target with a fast bow can result in problems, shooting them a bit further out will help.
Not sure that temps really matter, I have broken 3d targets in half, trying to get arrows out, on indoor shoots. And needing two or three people to pull them.
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