There is plenty of information on ESD on the internet which obviously debunks it as an "Old wives' tale", seems odd that you don't spend the small amount of effort to actually look it up.
This is a ridiculous question which bears no value. You are ignoring that ESD failures predominantly effect lifetime in a non catastrophic way. This question is predisposed to result in the answer No.
Perfect case in point as It's unlikely to fail at the moment of vacuuming.
To which I might add - How are you sure? At what point did you make sure that a board you vacuumed has survived its expected lifetime and if it hasn't have you run failure analysis on the component to ensure it wasn't ESD related?
I guess you are correct, you didn't miss my point, you dismissed it. Doesn't sound like risk assessment to me.. more like fishing for the answer required to make one content with their choice. Which I might add, you are welcome to do, it's your prerogative. Just don't try to make it sound like you made a decision based on data or evidence.
You should look up the difference between
quantitative and qualitative data. You don't seem to be interested in quantitative data - you are not asking for numbers and measurements. You are asking for folks feedback about their experiences (qualitative). If you were interested in numbers (quantitative) a simple google search would have answered your question.
IMO You are just looking for the easy way out and to feel good about it. No this isn't the game we play, it's the game you play. You either take the proper steps or you don't. It's that simple. Don't ask what you should do and when you don't like the answer make it sound like there isn't any problem and it's just overblown hype.