I have an XYZ junior an it automatically does a test extrusion when loading the filament.
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The only problem I have with leaving the spool in the machine is that the filament will start to absorb water vapor. The print quality starts degrading after about 3 days depending on the humidity. If you have your spool inside an airtight box with a desiccant this isn’t a problem.
I keep some scrap lengths of filament of the various colors I use to manually push through the extruder/hot end to clear out the previous color. I don’t waste more than a half meter of filament when l manually clear and then run the spool load procedure. My printer is a Fabtotum with a 0.35mm nozzle for 1.75mm filament.