When the question is asking about favorability, it is really asking about the magnitude of the Gibbs free energy. The more negative this value, the more favorable a reaction is. Gibbs depends on enthalpy and a temperature scaled entropy: $$\Delta G=\Delta H-T\Delta S$$
When we think of nucleophilic elimination, we know that a hydrogen atom is removed by a nucleophilic group resulting in our final product. Since a hydrogen is removed in elimination, while left intact during substitution, there are more final species formed during an elimination reaction. According to general chemistry principles, this means that there was a larger increase in entropy compared to the substitution. As temperature increases this larger entropy becomes more noticeable as it is now scaled by a larger $T$.
Therefore at low temperature, the enthalpy term dominates Gibbs and the substitution reaction prevails. However as $T$ grows, so does the entropy term and at high $T$ this overrides enthalpy, making the elimination reaction more favorable.