+1 to hopfenundmalz. Starsan’s unofficial/official slogan is “Don’t fear the foam”. I’ve never let it dry - you don’t need to. Mix it by the instructions and you don’t need to fear the foam. Scout’s honor.
+1 to HoosierBrew’s +1 ;D I also usually leave the foam and sometimes a bit of liquid myself. I remember hearing an interview with a rep from Five Star Chem talking about as long as the pH isn’t affected, its still safe to use!
I don’t know for sure about linoleum but it will definitely stain the coating on formica countertops. I would assume the same will hold true for linoleum.