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I usually wait until the hatch looks like it's mostly done. If I have any pips I would have left them in longer (up to 24-48 hours I have heard). The chicks never really fluff out because the humidity is so high, they are always kind of damp looking (but not shiny any more). Since I didn't have any pips, and they looked pretty dry, I went ahead and took them out. I do try to get them out pretty fast, and I usually try to bump up the humidity with a little extra warm water if drops below 65%.
Plus they make the incubator nasty when they run around in it . . . pooping on the sponge and goo-ing up the remaining eggs.