It’s a bit of a tradeoff. Really depends a lot on the amp.
Tubes age much more quickly than solid state. The inrush current for an amp can be detrimental to the supply caps and rectifier, son in that sense leaving a SS amp longer can be best.
Generally speaking though for tubes, no, don’t leave them on all the time. For SS depends. I have Class D amps that take days to warm up. Best left on, consume very little power. My A/B Luxman integrated is ready almost instantly. No reason to leave it on.