I think that answer is going to depend on who you ask. Sit and shake always sort of seems to be working out fine for me. Some people use heat steeping to speed up the process, and some folks do seem to think they need less flavor that way. I haven't tried heat steeping, so I can't comment.
I usually place in a dark cupboard, shake periodically (1 or 2 x per day) and sometimes leave top on, other times top off. Usually within a week I'll get a
sense of the flavor, in 2 weeks it's pretty well steeped, though my
juice continues aging as I start using it....
Anna