If your tank isn't overstocked you don't need to vacuum the substrate. All depends a bit. For ex if you have Plecos, they tend to leave their long poopstrings everywhere and you might want to clean those out. Smaller fishes excrements tend to fall between the cracks and over time, become plant friendly fertilizer.
BTW while you have to change your vacuuming habits a bit, it is still very possible with lighter substrates. Just reduce the diameter of your vacuum hose so the flow slows. I usually use a finger to stop the flow. Push the gravel vac into the substrate, let go for half a second, gravel and poo go up the tube, close up, gravel falls down, poo stays afloat, rinse & repeat.
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