IMHO...my vary humble opinion...motorcycle shaft drive maintenance is easy, and quick as far as the fluid goes.
Its actually easier than checking and adjusting the tire pressure on many bikes.
BUT I dont buy into how critical many talking heads think it is.
A funnel and a beaker? Are you kidding me?
Buy any 80-90-140 -you name it quality hypoid oil.
Drain the rear end by removing the cap and the drain bolt. Inspect bolt for a magnet and clean it with a rag. Put in the drain bolt. Dont worry about getting every last drop out.
Use the handy fill spout on every quart of modern hypoid gear oil I see.
Fill up to the level of the inspection hole.
Put on cap.
Once the tools are layed out, if this takes you over 5 minutes, you need some counciling.
Do this yearly or every 10,000 miles. Which ever comes first.
If you only do it every 4 years and 20,000 miles, dont be surprised if it works just as well.
If you dont see any leaks, check the level once a year.
If you dont want to use new crush washers, or even if you do, take a dab of which paint and put it where the drain plug meets the case.
DONT STRIP THE DRAIN BOLT/CASE.
The more critical maintenance is bike specific. On the FJR, there is a universal joint near the engine that needs it slip splines lubed every three-four years depending on climate.