When actively working on a Craft site, having to clear the template cache manually is cumbersome, but you can disable the caching by using a simple if condition in your cache tag:
{% cache if not craft.app.config.general.devMode %}
<!-- Stuff that will be cached here <-->
{% endcache %}
If you're using any other parameters with the cache tag, like "globally" or "using key 'some-key'", add the if condition at the end.
{% cache globally using key "footer" if not craft.app.config.general.devMode %}
<!-- Stuff that will be cached here <-->
{% endcache %}
The code above is for Craft 3, if you want to achieve the same for Craft 2, replace craft.app.config.general.devMode
with craft.config.devMode
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