Nope I leave it in and have had no problems , running without the filter will most likely damage the motors .
There is button that reverses the flow through the filter to help clean it , press that regularly while in use .
If it gets blocked you could remove it and bang the dirt off or rinse off with some pure from your van .
I take it of and hose it when
I get home .
Have to say I have never had it block and lose suction .