You should clean the lint filter between every batch of clothes. Get into the habit of removing lint from the screen, either before or after every batch. Many new dryers will automatically remind you to check the lint filter before starting up.
It is unlikely that your house will catch fire if you forget to remove the lint once or twice but it is still a potential fire hasard. Indeed lint will block your dryer's ventilation leading to an increase in the temperature inside the dryer which can in turn cause malfunctions or start a house fire.
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