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Yes, I think most everyone recommends you leave them in until they dry. Opening the bator quickly to remove chicks while eggs are still hatching is fine, IMO.
I have taken mine out as soon as they hatch, blow dry them, and stick them in the brooder. My other eggs behind that has always hatched (NOTE: I have only hatched twice though-but with great and above average hatch rates for shipped eggs) I open my bator way more than most probably do. My eggs still hatch, even if they have pipped and I open it. I did put in a wet sponge though to help raise humidity since I was opening it during hatch. That seems to help. I do staggered hatches too so that is why I take them out asap. They all are just fine the way I do it though.
If you can hear your pipped egg peeping then he is still OK, you can also see the pip moving a little too at times while they are trying to wiggle out of the shell. Sometimes chicks take over 24 hrs to hatch. I have heard people on here say they have taken days....