I used to do it when I had deep sand bed on my old system. Now I have bare bottom.
Well, my anemone tank as sand but my velvet damsel and engineer goby stir it up daily so I no longer need to siphon it.
I don’t and leave it up to my benthic inverts to do that. I employ a deep sand bed so don’t want to disturb it. You really shouldn’t have to stir it unless you overfeed or don’t have strong enough water flow and filtration. When doing water changes, I will use a turkey baster and just stir up the very top of my sand bed to bring detritus etc. into my water column when doing a water change to help me improve water quality is all.