IMO, wilting is only 'sorta' harmless. It does stress the plants and slows their growth.
Containers or ground? If containers, are they big enough to hold enough soil and moisture to sustain the foliage? Wilting should cause the plants to grow more root mass, but if they're root-bound...
Black plastic pots are death in the summer. Even if the extra solar heat doesn't cook the roots, it will evaporate water that the plant could have used.
Are they located against a hot wall or other source of reflected heat?
As suggested, watering well in the AM can help, as will even a little shade.
IMO, wilting is sorta harmless, but does stress the plants and slow their growth.