You are better off using very hot water and scrubbing, than you are with soapy lukewarm water an no rinse. The soap doesn’t disinfect, it just acts as a surfactant.
Actually, per my college microbiologist instructor, it IS the soap and the rubbing action that kills the germs. Very hot water does NOT kill germs. Boiling water will kill germs, if an object is submerged in it long enough. It’s true that soap acts as a surfactant. The warmer water helps cut grease.:)
You are correct. Soap compromises the exterior membrane of most microbes, destroying them. Or it denatures a lot of their vital proteins.
This is why I’ve sworn off “anti-bacterial” cleaning products. Soap is good enough and doesn’t “train” them to be stronger microbes.