Yes, unfortunately, a soft spot can go quite deep and be sizeable. It may not even be noticed by most excavators. Unless you dig down 6' and fill with gravel, it is hard to be sure that you won't have problems in the future. This depends greatly, obviously, on location and soil type. Here in PA, it isn't unusual to have challenging soil conditions. I figure a few bucks worth of rebar is cheap insurance. You still want proper preparation, however, I like suspenders with my belt for things that are hard to fix later. And cured concrete that has cracked and heaved an inch isn't cheap to fix.
Matt