The results are always best if you follow the instructions, with one exception. That being gas cooking grills.
In high mileage units, which have never been cleaned, deposits can be more stubborn. I find it best to do the back to back treatments. Clean,rinse,clean, rinse. It takes longer to clean the top end of a motor, than the ring packs and crank area.
I think that the condition of the rinse oil is positive proof that a second cleaning is needed, in many cases. For example if the initial rinse oil is noticeably dark or black in the first 1500 miles, then you for sure need the second application.