Apple doesn‘t recommend force closing apps (that‘s what you do by swiping them up) on a regular basis. That‘s why there‘s no automatic feature anywhere. You‘re only supposed to do this when an app “misbehaves“.
When you leave an app, it stays in a “frozen” state, so it can start from where you left when you open it again.
Force closing an app means it has to start “from the beginning” when you open it again, which will need more of the device’s resources.