I was very hesitant to drive into the rear on my recently acquired K75 non-ABS but it wasn't as bad as feared.
The bike was secured on the center stand.
Rear shock was removed
Rear caliper was simply unbolted and tied out of the way.
Rear wheel was removed (I earned my noobie ID10T badge for not figuring out I should REMOVE the muffler until I was putting the wheel back ON the bike
I used a jack stand to set the drive shaft tube parallel to the floor.
The hardest part was getting the rear drive housing off since it had never been pulled since new, 36K miles ago.
I drained & serviced the final drive at the same time.
My splines were rusted a bit but NO deformation and decent shape. I lubed the crap outtta them with the Honda Moly60 and put it all back together.
Now that I know how important it is and how basic the operation is every 10K miles is not that bad.
The only other K I had to look look at was an ABS model and I see no reason why the rear caliper can not be tied off in the same way.