When my kids were under a year old I would wipe them after every pee diaper change because they would sometimes still have urine on their skin and as they were under a year old their skin was more sensitive.
So I would wipe them every diaper change including wet diapers.
For poop diapers I would use a wash cloth and put them in the bathtub in their baby bath and then use the shower and warm water and soap to spray the poop of them.
I did the same when the kids became toddlers and could stand up on their own in the shower and when they pooped the diaper I would just shower them down to clean the poop off their bottom before putting a new diaper on them.
So the shower would clean the pee off them as well.
I never wiped them down if they just peed their diaper once they get to 1 year old and above but I did give them a bath or shower at least once per night unless they pooped.