I have 2 newfy/leo mixes, 1 Alaskan Malamute, and 6 Miniature Australian Shepherds.
I rarely bathe my dogs. I like to bath the three big ones during their spring "molting" (blowing coat), as it helps to lossen up the dead hair, and I have a dog force dryer (the kind pro groomers use, I was a groomer for 6 years), which does a tremendous job getting out their coat

So, with them, pretty much once a year.
With the aussies, just whenever I deem it necessary, which isn't often.
When it rains, they do get muddy, but once it dries it falls off (yes, in my house, that's why I LOVE the house having all tile lol). The dogs who love to spend time outside are often very dusty because they like to wrestle with each other in the dirt lol but that's ok.
As to the wiping paw question, sometimes I will if they're muddy. But usually if the paws are muddy, there's more mud/wet than just paws, so I really don't bother until it's dry, then I sweep/mop the floor

But if it is just paws, yes, I do wipe them, with paper towels or regular towels.