This is something I have wondered since I got into planted tanks. In my tank, the few spots I could get to still got the odd vacuum (very rarely, though), but I am not a fan of disturbing the roots by taking the plants in and out frequently to clean. I've thought of getting the smallest possible gravel cleaner I can find and extending the hose. I figured a smaller one will take a bit longer, but it will get into more small spaces with minimal plant disturbance. I'm sure many will argue with me on this and say I'm nuts, but because of the heavy planting arangement in my tank, I don't even bother to atempt to vacuum the gravel anymore. Instead I gently stir the bottom with my fingers to raise all the crap into the water, then I just do water changes as usual. I would never consider this if vacuuming was as easy as it used to when I only had a couple plants and low light, but with how many plants I have now (and high lighting) they keep my parameters under excellent control without vacuuming. The only spike I have had has been phosphates, but that was quickly fixed once I deliberately started rasing my nitrates accordingly.
I planted some glossostigma a little while back and it is just now settling in and starting to grow. What I've often wondered (and this may be the case with Helium_Junkie as well) is how do you even hope to clean anything once your tank is carpeted with something like glosso or riccia?
Colin