Is it legal, so long as there’s no risk of anything falling off?
If…
As you say nothing is gonna fall off then yes.
Have fun dropping it in the yard. 
My 2 cents; if you’ve written out a defect sheet, you’re out on a run and intending to get defect sorted on return to yard, and providing the said defect is not in any way dangerous in normal use, crack on.
If however you’re found to have reloaded anything that isn’t going straight back to the yard, or if you’ve been back to the yard and loaded out again, expect questions from DVSA should you get pulled.
Thanks guys.
I’ve made them repair it, be on the safe side
If the legs are fully wound up and they are safe, I don’t think it be a problem. But I bet I will be proved wrong