I usually sparge at around 55°C since I don't have a hot liquor tank, and I'm not going to go back inside to boil water. I heat my water to about 60°C, then pour it into a small Rubbermaid thermal cooler, letting it sit until I'm ready to use it. While I wouldn’t call it cold, it’s not exactly hot either.
I use BeerSmith 3, and my brew house efficiency typically ranges from the high 80s to low 90s. According to BeerSmith, my mash efficiency often shows over 100%. I’m not sure how that’s possible, but those are the numbers I get, and I use them as guidelines.
I monitor my runoff pH and specific gravity, and once I hit my targets, I consider it done. I don’t think I've ever sparged at a temperature higher than 60°C, and I haven’t encountered any problems with my recipes. This is my process, and it works for me. Hopefully, this information will help you too!