I think I gave myself an advantage with a solid black sand substrate. EVERYTHING shows up on it so I find myself vacuuming it purely for looks, which in turn helps get rid of the waste. My smaller tanks have play sand or lighter colored sand so I don't see it, I don't do it unless I see the crap.
I also have powerheads in each tank to blow to poop around to be picked up by the intakes.
I also have powerheads in each tank to blow to poop around to be picked up by the intakes.