We gave up on cleaning, as the sealing product (Miracle Sealants 511 Impregnator) that we carefully applied to our new house completely failed in the kitchen after 3 years and the rest of the house after 5 years, even in places under furniture that was never cleaned (my bad) or walked on. We went with Grout Shield a colored sealer product that is guaranteed to match your original grout (and it DOES!). I did this project myself due to the amount of furniture to be moved and other considerations. It has been down a year now and still looks great and cleans easily.
IMHO, if you are going to the expense of having your grout cleaned, make sure you get a quality sealer.
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Pennsylvania, for 60+ years, most recently, Allentown, now TV. 
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