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The rule of thumb is this. Retract the gear as soon as there is no longer enough runway in front of you to land on.

In small aircraft, there may still be plenty of runway in front of you on takeoff that you could make an emergency landing if needed. You would leave the gear down until that was no longer the case.

Large aircraft which use more runway could not safely make that maneuver, and so the gear are retracted immediately after takeoff.

The landing gear introduces a large amount of drag to the aircraft and every ounce of thrust can be very important during takeoff and climbout, so pilots are generally very quick to retract the gear.

However, if one wished, there is no reason you could not fly all the way up to cruise altitude with the gear extended, however the pilot would have to be careful not to exceed the maximum landing-gear extended speed (VLE)

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