I use a bit of toilet paper to scrape off the worst of it and then just put it in the machine, the nappy not the toilet paper
TBH Kacie poo's never got to the solids state while she was still in nappies, and sometimes I just CBA to scrap most of it off and it never blocked my machine
Mira's poos are actually more solid all ready than Kacie's wers sometimes and are easier to get off.
I try and remember fleece liners as it does kind of fall of that with a bit of gentle persuasion, but I have baby brain so forget more often than not