With S4R (S2R also), you can undo the caliper mounting bolts, move the caliper through the wheel (spokes) and hold it in upside down position, then do the bleeding without removing the wheel.
It is not that difficult IF you have all the tools needed.
I wrote this back in 2005.
(How to bleed rear brake on S4R / S2R
http://www.ducatimonsterforum.org/index.php?topic=71530.0and this one
(How to install rear brake pads on S4R
http://www.ducatimonsterforum.org/index.php?topic=71890.0I said, it is “better to remove the rear wheel” when working on the rear brake on these bikes (SSSA Monster),
I also said, it is “easier” to do the job that way, than trying to do with the rear wheel still in place.
While I sill believe that placing caliper upside-down (or “right way up”, the bleed nipple positioning upward) is the best way to bleed the rear brake system, I (sort of) changed my mind a little bit about rear wheel removal part.
I mean, there are times that you just don’t want to deal with removing the rear wheel and the silencers (which have to come off in order to remove the rear wheel, on S4R), just want to do the rear brake job, right?
So, I was going to do another tutorial (I actually started. Just haven't finished yet).
Basically, you will need
Swivel head ratchet handle (or flex head ratchet handle) and short hex bit socket for this bolt
Long extension bar for this bolt
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I have 43 teeth sprocket (the stock is 42), and the extension bar (barely) clears the sprocket.
So, unless you have bigger sprocket than 43 teeth, you shouldn’t have problem.
(Even if you have bigger sprocket, you can get away with using “wobble extension bar”, like the one used in the video.
And you can move the caliper through the spoke ...
The clearance is tight, but you can do it.
The tools : Flex head torque wrench, extension bar, and short hex bit
(Should I finish the tutorial article ? It's about 70% done. I just need to finish some video editing.)
Anyhow, removing the caliper mounting bolts and move the caliper is not difficult and doesn't take all day.
And it's not something you would do once a week, once a months.
I don't have any problem moving the caliper the way shown in above photos, for cleaning and inspection, twice a year.