Whether you need to clean depends mostly on where you live, how often it rains, how steep your panels sit and what lands on them. Steep panels in a rainy place like much of the UK often stay clean enough on their own. Flat or low-angle panels collect leaves and dust, and dry, dusty or pollen-heavy areas build up grime faster.
What is on the glass matters too. An even layer of dust mostly just trims production. Bird droppings are worse, because they shade individual cells unevenly and can create hot spots, small patches that overheat. Droppings are also acidic, so clear them off sooner rather than later. Near the coast, salty air can raise the risk of corrosion.
Your best guide is your own data. Open your inverter or monitoring app and compare recent output with similar sunny days. If production falls after a long dry spell or heavy pollen, cleaning may help. If it looks normal, a dusty appearance alone is not a good reason to pay someone to climb on your roof.