I only have 2 cats and 2 litterboxes. Because I work fulltime, I scoop in the morning and the evening, and like you, if they poop when I'm there, I scoop immediately. For me it's great.
Once a week the boxes are emptied, washed and refilled.
What I find time-consuming is scrubbing the rug after a puke or after Speckles scoots. I seem to be spot cleaning every day. Last night I got home and Max had the runs so I not only had to give him a butt bath but also spend time cleaning the rug. He's not sick, he just gets like that sometimes and it goes away after a day.