As another anecdata-point, when we did this for a now already fairly old roof installation of about 15kWp, it was more than “just about worthwhile”, since the panel area is contiguous: cost seemed to scale up less quickly than the wattage/theoretical maximum output, and the cleaning guy (solo company, IIRC) even told us it wasn’t necessary to do this every year (we hadn’t had it done even once the first decade+ of the installation’s lifetime).

So, at least in our case, definitely worth it.