I didn't for most of the time but once I did leave them too long and they got that smell. Washing diapers your not supposed to use too much detergent as it builds up on the diapers and can stop absorbency so it's recommended to follow those steps using diapers every so often anyway. You don't have to be that dramatic as to follow them all with diapers. You could do one or two....nappies...
We got a front loader HE washer just to do our son's nappies and never had to do this ceremony to clean them. Just the normal wash cycle got everything out. Didn't use softener on diapers. If your clothes still stink after washing I think you need to check the rubber seals around the door to eliminate any mold that is there and then transfer the clothes immediately to the dryer as suggested above. Also, use a small scoop of oxyclean in your wash and see if that doesn't get rid of the smell.
I used to own a cloth diaper business, I think it's starting to show now lol.
I agree on checking the seals. If there is something wrong you can buy new seals. Another thing to check is the drawer. Mine actually gets mold in there, gross. I have to take the entire drawer out and clean it and get my hand in the drawer hole and clean the sprinklers as the mold goes around there too. Once that's gone I run the washer on a full wash with some detergent to ensure it cleans the drum and every little part the water goes. I'd also put the bleech in there too.
Good luck