@Mokoko123 - Wall of text incoming.
When I have got my G751JY, I have been getting pretty similar temps (96/96/94/94 on CPU, 78°C on GPU). Obviously I was stressed cause I expected them to be lower(I am talking about CPU). Talked with asus customer support and they told me to send the laptop for "diagnostics".
So I RMA-ed it and after a week and half I got it back with statement that the notebook is fine, they did 10hours stress test in which the CPU reached 96°C which is under 100°C maximum operational temperature limit, so they do not see any problem with the notebook. So technically you should not worry about these temps. However, I couldnt get used to see permanent 90-95°C shown on MSI afterburner during gaming, so had to find some workaround which would help reducing the temperatures a bit.
So first I did was to undervolt the CPU by -80mv/-80mV. This helped me with reducing temps at idle more than during full load but still it was better than nothing. After that I reduced cpu multipliers by 3x to 33x/32x/32x/31x what really helped to reduce temps. Didnt see any significant fps drop in games after doing this (maybe 1-3fps in far cry 3 , cpu load is there at 70%, in other high end games I play its like 25-45% ), although I will raise it by 100mhz maybe when GTA5/Witcher 3 comes out, depending on how CPU intensive they will be.
Both undervolting/underclocking you can do in Intel XTU program, you can find tutorial about how to it somewhere on this forum as well.
Even after doing all this I was not satisfied with my temps, so there came NitroX who just finished making his custom CPU fan profile which, when I tested it, helped with reducing the temps drastically. I am running the profile for a week already nonstop and did not have single issue with it, I can say that it works flawlessly so far.
You can find it there -
https://rog.asus.com/forum/showthread.php?58501-Making-of-quot-Official-NotebookFanControl-G751JY-Pr...Okay so at the end with all these "workarounds" I managed to reach the temps I am satisfied with.
Before I had 86-95°C in Far Cry 3, now I have 75-84°C peaking at 86-87°C for a few seconds.
On less CPU intensive games (but still with 99% GPU load - this is important to have maximum GPU load all the time to see your correct maximum gaming temperatures) like Assassins Creed 4 Black Flag I was getting before 82-94°C now I am getting 65-76°C !! So ye, it is definitely worth a try.
P.S. - I just want to add that all these workarounds did not help me with combined stress tests temperatures ! But for me gaming/rendering temperatures are important not temperatures during stress tests anyway.
(I will maybe edit this post tomorrow to add screenshots of cpu temps before/after, but I am too lazy now, also sorry for my English)