If your network is working fine and you're not seeing strange issues (like huge traffic spikes or CPU usage), yes, it can be left in place.
Multicast routing entries don't consume a lot of resources unless the traffic volume is very high.
If no programs are using it, it will just sit idle since multicast groups are only active when subscribed members exist.
However that being said; you can disable multicast routing if you truly don't want it enabled.
On the router, you might want to double check these settings: Turn off IGMP Proxying/Multicast Routing in LAN settings.
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