Had wisdom teeth for years but few occasions it causes a sore inside of cheek from scraping. Does this mean I should remove this teeth?? heal time?

Seek guidance. Chronic irritation can cause problems. You have a wisdom tooth (teeth) problem. Go see a wisdom tooth expert, a specialist Oral Surgeon, who can actually visualize your problem area and give you the best advice.
Wisdom Teeth. Depending on the angulation of the teeth and the size of your mouth, there may not quite be enough room for them. If you're getting a sore from your maxillary teeth which are angled buccally and hitting your mandible, you should really have them removed... you don't need them. Consult with your dentist for more info.