I just recently cleaned my exhaust valves on a 21 Pro 850 (1500 mountain miles). They were fairly dirty, but not anything I wouldn't have expected. I never removed the cable, never loosened any of the nuts other than the 4 allen bolts holding the valves in place. On my first ride out the sled would only run 7700 - 7900 RPMs. It would occasionally spike up to 8150, but then immediately settle back to 7700 - 7900. At one point the sled would only pull 7100.
Plugged in the sled at my dealer and it had 12 "Exhaust Valve Actuator Feedback Position Fault" errors. We performed the recalibration, and then the sled ran fine the next day.
Bottom line, my experience tells me that you should have the recalibration run regardless of whether or not you mess with the cable. That's just my experience, and I'm lucky to have a good relationship with my dealer, so recalibration is as simple as me sending a text and then bringing my sled to the dealer. Just my 2 cents... I've read plenty of stories of people not having issues after cleaning them without recalibration, that was not my case.