I've pitched on 80-85F wort (which cooled to 65F in a couple of hours) without any ester/fusel alcohol problems. When I used to brew in the evenings, I would sanitize the lid, stick a hot 30 qt kettle in a bathtub full of ice water, and pitch in the morning. In each case the beers came out fine, without infections, unwanted esters, or fusel alcohols.
That being said, pitching on hot wort or waiting to pitch are hardly ideal, and I imagine a side-by-side comparison of those beers against the same recipes brewed "properly" would reveal some flaws.
Your beer will be cooled to "normal" pitching temperatures in an hour or two. Not much of a "penalty" in doing it now. Waiting until morning might give any bugs in the wort a few generation times worth of a head start on your yeast, though.