Now is a good time in Minnesota. Also, many of the irrigation companies are blowing out sprinkler systems in my neighborhood.

Unless you have new plantings, I can't see keeping them out much longer.

Hoses can probably come in anytime, but let your weather be your guide. What you want to avoid is having hoses full of water freezing and staying frozen. Lawns require less water as the weather gets cooler so it also depends on your rainfall. If it stays relatively warm and dry, you might still want to water again, but when the weather where you are is approaching the time when the ground starts to freeze, then definitely get the hoses drained and stored. Make sure your trees and bushes have good moisture to carry them through the winter before bringing the hoses in.