Most of the time you only need to spot clean a tarantula enclosure. You do this with long tongs (6+ inches) and just pick out left over prey pieces and boluses. My tarantulas only get removed when I am re housing. I've never had to do so but they may need rehousing if something (mold or mites) major has happened. Barring that you should only be spot cleaning which shouldn't need for the tarantula to be removed.
Good luck and if you have more questions let us know.
I open the enclosure, catch cup the T's into a clear, clean box (one able to suits in a comfortable way all the juve/adult T's from a dwarf one to a T.stirmi), put a solid piece of cardboard under. Done :-s