First thing I would recommend you do is check your lint filter on the dryer and clean it out. You also might want to run a vacuum cleaner down where the lint filter goes.
If lint gets built up it can sometimes cause your dryer to not dry the clothes as good.
Another place to check is the dryer vent hose and dryer vent outside and the exhaust part of the dryer as there could be lint build up in those areas as well.
The exhaust of a dryer should be cleaned at least once every year to prevent dangerous lint build up which could start a house fire.
Pull the hose off and check for peace of mind anyway.