my routine is similar to alasse
i have a medium/heavily planted 75, and you simply just cannot move those plants, the val is very well established. In the open areas I do the gravel vac cleaning, but anywhere around plants or their roots it is fine to leave unclean in the gravel, because the plants will use it as a fertilizer. All the wastes will be broken down by them.
Otherwise, i just stick the gravel vac in the tank near the bottom and take out water and any large debris that gets sucked into the vac during the procedure.
As far as the fish being stressed to this they actually seem to enjoy it oddly enough. The all seem to get in their schools and swim from one end of the tank, up the side, and back to the other end continuously. Its quite neat to watch

Odd how they only do it during cleanings too. They're not afraid of it anymore at all though