There is no harm in keeping the jailbreak, thus I advise keeping it -- that way, if you get hit by the firmware update, you are still jailbroken, rather than being locked out of (potentially) ever jailbreaking your Kindle if you change your mind.
But yes, you can remove the jailbreak. I do not know why anyone would want to, but the jailbreak comes with an uninstall.bin in case you really want it.
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