You may need to wake him in the morning to keep your routine on track. If he falls to sleep late this means he loses a little sleep that night by you waking him in the morning rather than letting him sleep in, but it also means he will be ready for his nap and has more chance of staying on track with his routine. If you let him lie in too many times, leading to later naps, this can lead to later and later nights.
I've only had to wake mine once or twice, and I'm not saying there is harm with the odd lie in here and there, that's fine, but you don't want him shifting his entire routine yk? So I would prob wake him if he sleeps in again.