Abstract Wear is a complex phenomenon taking place as two bodies in relative motion are brought into contact with each other. There are many different types of wear, for example, sliding, fretting, surface fatigue, and combinations thereof. Wear occurs over a wide range of scales, and it largely depends on the mechanical properties of the material. For instance, at the micro-scale, sliding wear is the result of material detachment that occurs due to fracture. An accurate numerical simulation of sliding wear requires a robust and efficient solver, based on a realistic fracture mechanics model that can handle large deformations. In the present work, a fully coupled thermo-mechanical and meshfree approach, based on the momentum-consistent smoothed particle Galerkin (MC-SPG) method, is adapted and employed to predict wear of colliding asperities. The MC-SPG-based approach is used to study how plastic deformation, thermal response, and wear are influenced by the variation of the vertical overlap between colliding spherical asperities. The findings demonstrate a critical overlap value where the wear mechanism transitions from plastic deformation to brittle fracture. In addition, the results reveal a linear relationship between the average temperature and the increasing overlap size, up until the critical overlap value. Beyond this critical point, the average temperature reaches a steady-state value.