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 var/generation directory. You only really even need to do this when you create a new constructor or change or reorder the arguments being passed into one of your class constructors.
I actually opt to just delete the entire var directory.
You should not run setup:di:compile in developer mode!
This command need only for production mode.