You can take your bearded dragon out of the cage at least three to five times a day it can be even more or less. If you feel that your bearded dragon is constantly feeling uncomfortable inside the enclosure system, then you should take your bearded dragon out of its cage more and more. At the same time, try to figure out exactly what or why the bearded dragon is feeling uncomfortable inside the enclosure. That might help a lot in terms of giving the animal a relaxing time.  Also remember that if your bearded dragon is constantly clawing at the glass, then you should probably check for possible reflection issues or any type of temperature issues. That might solve your problem.