Once you get the undercarriage clean (or if you start with a new car), it isn't that hard to keep it nice. I wash the undercarriages of our vehicles at every wash, usually just something quick with the creeper and a long handled BHB. Every other wash or so, I'll tilt the vehicle a bit with the floorjack to make things more accessible (and yeah, you bet I put a jackstand under it!). Something like EFHI/APC/TAW in a spray bottle works great- just rinse, spray, agitate with the brush, and rinse it off. It only takes a few minutes and while it's tilted it's easier to do the wheelwells properly too.