Daily inspections can be done quick and using the temp gun to check temps. I wouldn't handle him unless you have to. However, substrate changes (when he goes to the bathroom) and water changes are necessary.
I recommend taking him out and putting him right into a holding container. Then putting right back after cleaning, etc. Do this as little as possible.
However, I do recommend taking him out for maintenance.
Two reasons.
1. Less stress for him. That's his safe place and it can be weird having a hand in there moving things around, etc.
2. Avoid a bite. I never do anything in Behira's cage, except a quick temp check (with her on the other side of the tank), without removing her. Not worth the risk. She is not longer scared by anything at her size, but could want food!