My senior kitty is overweight and has arthritis, so she can't reach her back and butt to do a really thorough cleaning. I sometimes put her in the sink and give her backside a good washing. With the other two, I just run a damp washcloth over them occasionally, concentrating on their faces and...
For my three cats, I use Everclean litter and I scoop twice a day. I rarely empty and scrub the boxes. I live in a one bedroom apartment and there's no litter odor whatsoever. None. This brand is expensive, but I think it's worth the price.
If the problem is that your kitty has very stinky...