I also have an SUV with backup camera, camera in the forward direction and two downwards cameras on the door mirrors. My experience has been that the forwards camera and the backup camera get most of the dirt, whereas the door mirror cameras get practically no dirt.
My solution? I have a microfiber cloth in the open storage area over the glove compartment. Whenever the cameras have a dirty picture, I will use the cloth to clean the cameras. I have done that about dozen times in 3500 km, and absolutely no damage to the lenses is visible. In theory, the scrubbing could damage the lens if it's dirty, but that probably occurs more slowly than in 3500 km. The microfiber cloth obviously gets dirty, but you can clean the backup camera using an area of the cloth that doesn't yet have dirt in it. One microfiber cloth will probably last for many years or more. When the entire cloth is dirty, you just replace it with a new one.
So, you need to clean the lenses more often than you fill up the gas tank. I don't see that as a problem, as it costs less than one minute of my time to clean the forwards and backup cameras.
Some car manufacturers have a camera that is held hidden when driving, and when the camera is active, electric motors move it out from the hidden position. This obviously eliminates the dirt problem, but also costs more, which is why all manufacturers don't do it.