Later 1000 bikes you can't. It can be done but there's a clip in there that has to be removed first, quite hard to do, really easy to screw up

. Avoid if at all possible.
650's yes, at least until Suzuki update the forks from damper rod to cartridge style.
Draining the oil, my plan was take the front wheel off, put the axle back in, lower the legs one at a time and tilt forward until the top is below the lower and leave to drain. Possibly rinse with something, drain again. Refit fork leg, pour in known volume of oil and call it good. That's not ideal and I haven't done it yet but that's the plan.