I have hired a local company (that also does my windows once a year) that washes solar panels. My home is two stories, and has a cement tile roof, so I am not walking on it. The local company I use has been cleaning solar panels (and windows) for like 12-15 years.
I see a little better production when I have them cleaned, however to be clear, the extra production is not enough to pay for the cost of getting the cleaning itself. I just do have them do it while they are doing my windows, and to also support a local business owner who does great work.
TL ; DR, I have a company do it, I see some extra production but not enough to pay what it costs me for the company to do it, if you can do it yourself safely and live somewhere where it doesnt rain a lot (like we both do) it might be worth it.