Surely emptying depends on crust thickness, solids height and water volume for dilution and bacteria treatment. Rather than being time dependant. So provided that the crust or solids don’t become too thick/deep that they can flow through the dip pipe the soak away will be fine. More so if you have 2 tanks, first for solids and the second mainly for the bacteria to clean the liquids with some further settling of fines.
I agree that to be prudent emptying once a year is advisable especially if you are in a high water table area, and have a treatment plant as well, as soak away efficiency is critical, but it doesn’t necessarily have to be.