I do light gravel vacuuming every water change, I don't dig down very deep because most of my tanks have sand and/or are dirted.
As for taking things out and soaking them, I don't see the point unless it's covered in algae. If you don't have to soak the ornaments, then don't do it. No point in stressing the fish more than necessary. Taking everything out for extented periods of time is stressful for them.
As for moving things to clean the gunk out underneath, I do it every once in a while, like during one WC I move this ornament, and the next WC I move the other ornament.
What I concider a deep clean in scrubbing the tank walls of algae, a major water change (50%+) and rinsing off the filter media. Sometimes I will re-decorate my cichlid tanks and give them a deep clean (usually when I need to catch a fish), but never my planted tanks.