I've always done pseudo-clean cycles on every washer I've managed myself. Our Maytag Atlantis was always spotless because every couple of weeks I would fill it with an inch or so of hot water and use a cleaning rag, a toothbrush, and a toothpick to clean every nook and cranny I could get to. Afterwards I'd run a "hot" rinse with vinegar to break down any fabric softener and detergent scum. I can't stand the thought of washing my clothes in a dirty machine, and plus it's nice when anyone happens to glance into my machine and comment on how it looks brand new. When I took the Atlantis over to my in laws when their LG front-loader died, they couldn't believe it was bought in 2002.
With the Bravos, I'll run a Bulky cycle on warm water, set with a spray rinse, just to help flush away any crud in between deep cleanings. Although the washer keeps itself generally clean on its own, the higher water level obviously dissolves some residue because the water will sometimes have a bit of fizzy foam on top.