If you have an established tank, then go slow. This can be a disruption, but not anything that is detrimental if you don't do too much at once.
I do vacuum mine, but like 20-25% at a time every quarter for a year and then I take a year off. If you have sand sifters (snail, cucumbers), then you are removing their food, so make sure that you allow areas to repopulate with microfauna.
You are not just vacuuming detritus (which is mostly benign), but also beneficial microfauna. You are mixing the oxic and anoxic regions, so bacteria will have to die and repopulate in the right places - if you have shallow sand (like less than an inch) then all of it is probably oxic and less to worry about.
The "nasty gunk" is mostly harmless, but too much of it can gum up the works and suffocate places for the microfauna and bacteria to grow and live. I take the approach that I want to get it out, but I am in no hurry and can be methodical and smart about removing it.