I was thinking about this some more...
In tanks that are not planted with an inch or so of gravel (or sand), a routine full gravel vac of the substrate is a good idea. Also is the case if anyone has a throw back under gravel filter as these can quickly become 'nitrate factories' and a build up of 'schmutz' can inhibit the flow of water through the gravel.
However, for planted tanks with 2-4" of substrate and rooted plants, it's best to leave the substrate alone and let nature take it's course. Now under some circumstances, one might temporarily remove decor to remove any detritus, but this may or may not be really necessary.
Like Algae, many find that mulm on the substrate is offensive in a display tank. In fact, algae and mulm (and snails for that matter!) are very healthy things in the aquarium. Algae helps to purify the water. Mulm feeds the substrate food web. Sometimes we just need to think more like nature. That doesn't mean we should neglect tank/filter maintenance, but rather not obsess over otherwise natural processes.