Maybe this is a very silly question. I can not understand why I must run the command
setup:di:compile every time I make changes to custom modules, to see the results when I am in developer mode.
Can it be disabled?
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You don't need to run it. You can simply delete the directories under var/generation (or under generated/ after 2.2). Be careful not to the delete the .htaccess file. You only really ever need to do this when you create a new constructor or change or reorder the arguments being passed into one of your class constructors.
For 2.2 and onwards, Magento documentation suggests using this command:
rm -rf <magento_root>/generated/metadata/* <magento_root>/generated/code/*