I got 'lazy' & opted for the ES version which seems to limit my options on when it comes to 'aftermarket' units front/rear. I've done fork seal/spring/oil changes on several different bikes, so I should be able to handle it on the S10 as long as I don't have to worry about calibrating any electronic stuff on it.
Forks and shock are fully serviceable on the ES. Set your suspension to 1 rider preload and soft 0. Then you can safely unplug and remove forks/shock. Little trick with the shock is to twist the bottom clevis almost 90 deg to remove from side of subframe. Removing wheel makes it easier yet.
At just over 5,500 miles my right fork bushing had a small amount of play. Once both start to have play it's definitely time for servicing. I use either Motul Expert or Race Tech oil. Both have proven to help bushings live a little longer. Dirt bikes I raced were serviced every 25-50 hours max. Recreational every 100 hours or so. Street bikes aprox 10,000 miles between service. When I took my Super Tenere to Race Techs service center they recommended for me to bring in every 10,000 miles or when fork bushings wear, Whichever occurs first.
I check bushing wear every oil change.
Also I highly recommend to use quality spring compressor tools to remove the springs. Cobbled together and cheap tools are spooky and really taking a chance. Race Tech makes reasonably priced tools that make spring removal quick and painless.