Having a Tecnica Inferno I take my liners out every time I put my boots on, in the morning, during lunch, and after skiing. When I get home I take the liners and leave them out to dry in front of the heater. Over the summer I take the liners our after skiing and dry them in the sun. Basically my liners are constantly being taken out and put back in, they dry fine when left in front of a heater. If I don't dry them they are wet the next day and eventually develop a stench.
It is fine if you dont take them out, as long as they get dry. If you notice dampness the next day it might be worth taking them out.
Unlike others said you wont cause damage to your liners, shell, or the footbed, even if you have had lots of work done to them. They get easier to take out the more times you do it, for some people it is real difficult to do. When putting them back in pinch the back of the ankle area and put in the front of the liner, then push down. Another method is to simply put the liner on your foot then put your foot in boot.
Hope this helps.