I've always found that it's the appendages that need a makeover at day's end, and not the torso area. Sleeping in the day's hiking shirt, shorts, and underwear doesn't diminish my sleeping comfort in the least, but to leave legs unwashed – whether bare or covered – is usually to sleep sticky.
Sticky legs seem to be the main source of psychological discomfort, which is primarily what's going on here. So to remedy this, I simply fill a Drom bag from the creek and rig it up to a tree, then open the flip-valve to release what amounts to a very narrow stream of water. By standing here and there, raising legs this way and that, directing the flow where needed while simultaneously rubbing legs and feet by hand, most of the day's grime falls away and, after a quick towel-off, I feel nearly good as new. It's simply flowing water that makes this work, by the way; wet wipes and sponge bathing are generally less effective.
I also include arms, hands, and face in this ritual, and together this is sufficient daily cleansing for about a week, at which point I might go for a full body shower, with a little soap. Even an effective hair washing is possible using that tiny stream of water, and it always humbles me to think how gluttonous I am with water back in civilization – how many gallons of precious liquid I consume, by default, to accomplish the same task.