I would leave them on, assuming that I’m in close proximity to the amps and able to react quickly if a tube event occurred.
I had an ARC amp that took 45 minutes to warm up and for the sound to bloom and I’ve had that experience with several of the amps I’ve owned. If you’re having short listening sessions, and that’s just the norm and unavoidable, you should be listening to your system delivering peak performance and not hearing the sound of an amp going through a warmup cycle. Your only offset (aside from safety) is that you’re going to be replacing tubes at a higher rate hence you need to decide whether you can justify the extra cost, or not. If not, buy some good solid state amps.
That would be my approach but I can also understand why some might disagree with it.