I brew BIAB style in a 19litre kettle with the goal of getting 14-15litres into the fermenter.
When my mash is complete I let the bag drain over the brew pot until it pretty much stops. Then I dunk sparge in another pot. After I emtpy my "dunking" pot the first time I then put a colander over it and rinse the bag in it with hot water. Once the rinse is complete I take a large dinner plate and squat the hell out of the grain bag.
How hard do I press? My goal is to get the grain back to dry weight. It's impossible I know, but that's how hard I'm pushing. If its still dripping I keep pressing.
I repeat the rinse/squat procedure until I reach my boil volume (19 litre pot is almost completely full). So far it has worked and the beer doesn't have any astringent tastes (that I can detect anyway).
In my opinion you didn't do anything "wrong" in the brew where you squeezed without rinsing. I just like to "squeeze" every cents worth of goodness I can out of grain I paid good money for. It may actually be that I am doing something wrong because I've never bothered to figure out my efficiency and I don't care if my OG doesn't come in exactly according to the recipe.