Super Sentai Suits

[Lynxara]

But could they just kind of...Walk around in them if they wanted?

In addition to that Changeman episode Shougo mentioned, there's a Goseiger episode that offers a much goofier take on this scenario. It's episode 4, I believe.

In most shows, the characters won't just hang around in-suit to make the suits seem more special. The big exception I can think of offhand is Fourze, where Gentaro is perfectly capable of just chillin' in the Fourze suit.

 

[Shynilyte]

Even other shows that do have actual time limits don't follow them all that accurately (i.e: Ultraman, Garo)