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I have my XB1 on top of my PS4 Pro, in an open shelf with decent air space around them. I figure this is reasonably safe, as the PS4 does not have any vents on the top. I run everything through my XB1 though, so I do worry a bit about the heat when both are on.

My Wii U sits next to my cable box, on the next shelf. I'm sad to say, I only turn the Wii U on for an hour or so per month. I wish Nintendo gave me a reason to use it...