I just do it according to need. I also tend to pull it apart at the end of the day but if it's had a good workout I will it apart between times. I find as long as you have a good brush & rinse it out immediately you don't really need to pull it apart (with the possible exception of rinsing out under the seal) most of the time.
The other thing is to occasionally wipe the feet off & clean the back of the machine. Those of us who pack it up & take it to demo's know how dirty they can get in the places not usually seen!!!! Even the cord gets pretty yukky!
After my failed risotto of tonight I was worried that it wasn't getting to temperature so I did a test. The 9 mins at Varoma temp steamed off the baked on rice beautifully. Gotta love that about them............