NO I don't change my toddlers diaper if they pee just a little in it or even just a few pees.
Disposable diapers can hold a lot of pee before they need changed and the diapers absorb and lock the wetness away from the toddlers skin.
Unless the toddler has a really soaked diaper and it begins leaking then the toddler will feel no or hardly any wetness.
I wait until my 2 year old son has filled his diaper up so that it becomes pretty squishy and when I change his diaper his skin is still dry.
I usually change my 2 year olds diapers every 3 hours when he is just wet and sometimes when out and about I have forgot to change his diaper and 6 hours later he is soaked but his skin is still pretty dry.
I just use a baby wipe and wipe his skin and then put a new diaper on him.
He has never gotten a rash.
With cloth diapers you need to change them soon after they pee because they don't lock the wetness away.
But disposable diapers contain a gel known as SAP which absorbs the urine and holds i t away from the skin.
If you changed a diaper every time they pee then you'd change diapers every 30 minutes or so.
I've changed my 2 year old sons diaper before and within about 2 minutes after the new diaper was put on he peed again.
I just left it on him until it got peed in some more.