I've done both, vacuumed and not vacuumed. had sand stirrers, no sand stirrers. I saw no difference. so.. my vote is don't waste your time/efforts vacuuming. I have never kept a proper deep sand bad though... these are all .5"-2.5" sand beds in my experience. keep sand stirring critters if you want.. or don't bother.. you don't really need anything you don't want to keep/look at... I kind of like having all sorts of snails and crabs and things running about doing their thing... so.. I've ran them in about half my tanks over the years.
all you really need is lighting, good(stable) water parameters, and water movement. sand or no sound? vacuum or no vacuum? critters or no critters? real live rock from the ocean or dry rock? All personal choices.. do whatever you like... I've done it just about every way you can, and it all works.