I don't clean the inside of the rims; I only clean what can be seen. If it can only be seen when the wheel is off, then what's the point? That's just even too anal for me!

I have never had noticeable brake dust with the Xterra, even when towing. I suppose if I were to not wash it in two years then maybe a thin film would start to show, but it just doesn't go that long. Most Xterras I see don't have any significant brake dust, but some have it really bad, but those are probably brake abusers and more likely automatics.