Obviously without seeing the job, this is only a stab in the dark... but I wouldn't have thought it would be necessary to lift the carpet

Normally with this sort of thing there's not going to be a huge volume of contaminant walked in on the soles of boots, it should remain confined to the tufts or at least only into the upper part of the primary backing I'd have thought - all reachable from the top without lifting it. They'd have had to been paddling in it to get it wet all through!
Standard cleaning products used very thoroughly should deal with the physical removal of the diesel, there are also specific odour neutralisers for petrol/oil type substances I think.
My only concern would be delamination. If the diesel has indeed been there in sufficient quntity to touch the primary backing and get into the latex, it may have started to break it up. The delamination might not manifest itself until you start cleaning it

Obviously this is going to be in a traffic area too, if it isn't a very new carpet delamination might already have begun... I'd inspect it very carefully before deciding whether to clean it or walk!