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In theory, you could remove the retainers after several years, and the teeth should stay where they are, but most people get used to the retainers after a few days, and it does not bother them to keep wearing the retainers.
Recently I have seen orthodontic systems advertised to dentists saying that "minimal retension needed." I do not believe any STO system can be made with "minimal retension," they all need the same amount of retention