I would think so? I mean, any lube can't be left on due to the ingredients.
What lubes are you using that can't be left on? If you choose not to clean them off yourself, most lubes will either A) be absorbed by the body harmlessly, or B) rinse off easily next time you take a shower.
Unless a lubricant is giving you genuine discomfort as it sits there (in which case shopping for a different lube might help anyway), there's usually no harm in letting it disappear on its own.