I just did my first valve check myself last week - K3 DL1000 with around 20,000 km (I know, I need to get out more...).
I found 3 valves out of spec - 2 intakes (on seperate cylinders) & 1 exhaust (rear). The other valves on each of these cams were also very close to the tight tolerance, so I replaced all 6 shims on these 3 cams, to set all valves to (as near as possible) the middle of the range - .15mm for intakes & .25mm for exhaust. The front exhaust valves were both .25mm already, so I didn't touch them. The tightest intake valve was .07mm (spec is .1 - .2).
What I found interesting was that all 4 intake valves had the same shim size from that factory, and both exhaust valves that I changed had the same shim size as each other (but different to the intakes). It made me wonder if they actually fine tuned the clearances at the factory, or just used a standard shim & if it was in the range (or close?) left it at that. This would explain why the first check usually has some valves out of tolerance, and a more sceptical person would suggest it generates more service revenue as well.
Replacement shims were $10 (Australian) each - must be made of unobtainium. On reflection I should have bought a shim set from the US, and sold it on locally after doing my shims. I didn't actually expect to need 6 shims, but I had thought of doing this.
Print out the pages from the manual, make sure you have a low-range torque wrench (1/4" drive is the most suitable), and take your time. Make sure you understand where the cams should be when taking the measurements, and where they should be before you remove them to change shims. Double check this before removing cams, and when re-installing them, and you will be fine.
Cheers, Geoff