Well every now and then when I'm washing the rest of the car I squirt the hose under the vehicle from all sides and angles to remove crap that's under there. Recently I painted three and a half litres of black jack underneath so I put the car on ramps and got under with the hose and a bucket of soapy water with a banister brush and scrubbed it well first.
Now when I wash underneath, the water really beads off the black jack. Glad I live in qld because I got fairly wet washing under there! ....I would say it's best to clean underneath occaisonally unless you don't give a rat's ass and are going to sell the car.
'Ah well, I suppose it had to come to this.'