we have the same boat as you, and have exactly the same set up re fenders. I wouldn't dream of asking the other half to bring them in between locks. If were to go up to central London, then I would bring them in.
Blimey this one is good for a windup isn't it /forums/images/graemlins/wink.gif, anyway I agree they should be left down on the river especialy on a small boat like the S23.
However I stand by my opinion and thats just my opinion that too many fenders in the wrong places look awfull, this is how i'd do it on a similar size boat and just leave em there, worked ok on all the river and K&A canal plus Grand Union, but did pull them up on the tideway and sea.
That set up wouldnt work for us. Nothing on the back corner would mean we rubbed on our home mooring. Nothing at the front would mean the twats next door would rub the front everytime they went out.
As i have alreay said each to their own and you find what works for you.