I am happy to hear that they seem to be doing well. I always try to be cautious. Just a few days ago someone did basically what you just did and sadly the fish didn't fare as well as yours have. I try to make sure I never give advice that may cause the death of fish so may be considered overly cautious with my recommendations.
Keep a close eye on the parameters and be prepared for water changes should the
ammonia spike. I know there are some that don't agree with me but in my humble opinion removing the gravel removed a significant amount of bacteria.
Bacteria is growing on everything in our tanks. The strongest colony is going to be on your filter media since that is where the most food (ammonia) is going to be but it also grows everywhere in our tanks. Once a cycle is firmly established removing and replacing the substrate won't affect the cycle as much as it will when the tank is still fairly new but can still affect it. Thankfully the lost bacteria will quickly be replaced so should you experience a mini-cycle it shouldn't last long.