Are you purposely not telling us what your amps are? This info could factor into the correct response.
In general, if it's a recent design (last 20 years) solid state amp, then leaving it on won't be a problem. Tube amps are a completely different circumstance. Additionally, I would be wary of connecting or disconnecting loudspeakers from a powered on amp. It could result in a loud pulse coming from your speakers.
In general, if it's a recent design (last 20 years) solid state amp, then leaving it on won't be a problem. Tube amps are a completely different circumstance. Additionally, I would be wary of connecting or disconnecting loudspeakers from a powered on amp. It could result in a loud pulse coming from your speakers.