In most EVs motors are watercooled, so that energy can indeed be scavenged – problem is, during low-speed driving, the heat output is not high enough to get noticeably above ambient temperature.
Thermodynamically, heat is waste energy. EVs are so efficient that scavenging isn’t practical anymore; I’m not sure the temperature gets high enough to usefully extract the heat energy for heating. ICE cars obviously produce mostly heat so getting a radiator hot enough to heat the cabin is very easy
It's a small difference, but if you had a choice between "more efficient AND less maintenance" and "less efficient and more maintenance" then it's easy to see why the permanent-magnet solution is preferred.
The actual alternative is induction motors, which are just a bit less efficient than PMSM and otherwise basically the same. Except that the frequency fed to them isn't exactly proportional to speed.
They've been used to great success since we had the needed power electronics to drive the electric trains of Europe.