I used to leave collars on all my dogs 24/7, but then I got Squash. Squash and Maisy like to grab each other's necks when they play, so now they never wear them in the house or yard. Only when we leave the property.
At this point, with the dogs I have, I'm far less comfortable with the risks and consequences of someone snagging a tooth on a collar than of someone getting out into the world without a collar on. In the past, and possibly someday again in the future, it's been the other way around. But for now, we have a 6' privacy fence and I keep the gates padlocked when the dogs are in the yard. We also have front AND back enclosed porches so there is no door in the house that leads directly outdoors. All the dogs are microchipped. So that's that.