I do 10% of the total water volumn per week and I only vacuum the sand once in awhile because I will removing the good as well as the bad.
+1 I keep my tank barebottom for that exact reason it's very easy to clean. I have no sand storms or any other crap to deal with just suck out all the particles off the glass and the tank is good to go. I also don't need to do water changes very often because there is no buildup due to sand holding in toxins.Always clean your sand and gravel !! Fish sh*t and left over food is down there and will mess up your water quality and raise everything you don't want high !! If you can't reach in the back of your tank use power heads to move the bad stuff in front of your tank so u can get it out easier ...
I never vacuumed my sand. I have sugar sized sand.
If you have gravel type/crush coral, I would vacuum it though