Just so as not to leave anyone in suspense

I'll set out an idea of how DM can have its excess kinetic energy bled off, allowing it to accumulate in clouds and such.
The big factor is expansion itself--it drains momentum from stuff. Brian Powell could probably explain this better than I. I understand that Steven Weinberg discusses how this happens in his Cosmology textbook, but I haven't read his section on it. Lineweaver refers to it in a paper I just looked at.*
As far as we know DM only interacts via gravity. Imagine a cluster of DM particles falling together. Random
gravitational encounters between particles swap energy back and forth---you know the "slingshot effect", a gravitational interaction where one item whips around another, slowing it down and gaining momentum. This has been responsible for cleaning a lot of stuff out of the solar system--things can pick up escape velocity by such encounters.
So what appears to have happened when DM clouds form is that some of the DM is "sacrificed" to carry away excess energy. It gets flung out of the condensing cloud and carries away the unwanted surplus energy---this allows the remaining DM to settle down and accumulate.
So then what happens to this extra energetic DM that has been flung out, as the cloud gathered?
It eventually gets slowed down (relative to universe rest) by expansion itself. So then wherever it ends up when it has slowed down enough it can can find another condensing cloud, falling together under its own gravity. Maybe this time it can be one of the particles that settles down and finds a home in the cloud instead of being one of those flung out by the ensuing gravitational interactions.
The good thing about this mechanism is that it does not require ordinary matter. It allows DM to collect and form structures entirely of its own accord. There isn't very much ordinary matter, comparatively speaking, so it's important that DM can condense to some extent without help.
But once ordinary matter has formed structure there is also the possibility that DM falling into some overdense region will interact GRAVITATIONALLY with the ordinary and will give up some kinetic energy to the ordinary, which can then do all the usual stuff: undergo collisions, get hot, RADIATE it away. So that is a second mechanism---ordinary matter serving as an intermediary to dissipate energy.
Brian Powell knows more about this so he may wish to add or correct this.
*To me it's intuitive (and analogous to the redshifting of light by expansion) because separate neighborhoods where clouds are condensing are getting farther apart so a particle flung out of one and kicked over towards another locale finds it backing away from him and arrives there with diminished speed and an enhanced ability to be gathered in.