It will hurt nothing to remove that deny line from .htaccess. But always backup your .htaccess first. Sounds like you're new to the .htaccess game, if so be sure you've got a solid FTP and editing system set up so tweaking is not too tedious. You might find yourself in there quite a bit if you've got a website to defend.
If your site is well configured, with no internal broken links (use a link checker) you're probably ok on the rule you've got set up. BUT, if you have the slightest concern you should check your error logs and see just what exactly that bot is sniffing, if you see a bunch of attempts at files that are clearly tests of exploits, you'll know you are doing the right thing. And you can add some of those file names to your "immediately block" list in Wordfence Options so you can really tell those bots where to go.
MTN