I use a power sprayer outside any time it's over freezing and wash the cars with a bucket of hot water inside my garage if it's below freezing. Stick the power sprayer in the holes and flood the inside of the frame.
You can try one of these under carriage sprayers, but I just get down low and spray everything.
https://www.amazon.com/dp/B07QHTCWBB/?tag=wranglerorg-20
Every year I detail all the cars I own in the spring and fall. The spring includes a complete nook and cranny cleanout of doors, hinges, quarter panels, front and rear bumpers, ,,,, Then oil changes, paint chip and rust repair, under carriage inspection etc. Then cleaning the grime and rail dust off the paint job before waxing everything with a heavy coat (including places unseen).
My newest car in the fleet is 10 years old. Nothing show room but nothing falling apart from rust either.
I still can't figure out why people who pound the crap out of their coatings by going off road are so afraid of other potential paint problems. The most damage we had on cars was due to the sandblasting action of gravel covered dirt roads. It literally strips the paint from everything underneath and including the paint up the sides of vehicles if you don't have large mud flaps to help slow down the damage.
If I lived in a sandy area, I'd be fixing paint all the time. Now I only inspect it twice a year and clean off the salt whenever I can in the winter. The frames that rust out are likely on cars that rarely have their oil changed either. Just flood the inside of your frame until the water runs clear and it will solve a lot of issues.