Intercropping legumes are always a good idea, unless one is already incorporating a lot of high nitrogen
compost or manures. Yes, it is possible to apply too much nitrogen, although that is not a common problem with gardeners. I don't intercrop legumes in my own garden beds because I have been incorporating compost between each crop (that means normally every 2-5 months) and I use cover mulches. But I do grow legumes as part of my rotational garden production. They don't, however, take the place of compost.
Fluffing the soil between crops depends upon your soil and your preferred
gardening technique. My own soils compact if not fluffied in some fashion, leading to a situation where only grasses and hardy weeds will grow. It has been repeatedly demonstrated that annual vegetable crops grow more robustly and produce more edible food when planted into fluffed, aerated soil. There are crops that will produce with no soil fluffing, but one must choose their crops wisely and anticipate less return. A lot depends upon which
gardening technique one chooses to live by.
On my own homestead, I rely upon the farm to provide all of my food plus extra to trade,
sell, and share. Thus getting a decent crop for my efforts is very important. I have found that lightly tilling in compost and other soil amendments between each crop works for me. No-till has not worked well with my soils and climate when it comes to annual vegetables.
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