Whole black gram for dal makhani - overnight soak or pressure cook straight?

For dal makhani I have been soaking whole black gram overnight and then pressure cooking, but I have also seen people skip the soak and cook longer instead. Soaking gives me a cleaner texture, though the skins sometimes separate. Skipping it once left me with uneven cooking and some hard grains in the pot. I would rather not keep guessing. If you make this often, do you soak, and how long after the first pressure are you giving it on low heat?

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