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yup i did on my old one and i do the plastic arch liner part on the ra but the rest is undersealed. looks loads better though when there's no underseal and you can see nice shiney paint through the wheels.
Every time the car is cleaned, a good fresh water jet to get rid of all the crud and salts and finished off with a bare hand ensures that all crap has gone, especially around the arch lip.
After cleaning under the wheel arches, don't forget to wash the crap out of the brake calipers/discs and wheels. Nice work Robocop, yer could eat your dinner under there, shame its hidden but at least you know!