I've seen some write ups about removing it completely tearing it down but is there any kind of cleaning or greasing to do with it still in the bike?
Sadly - No.
Starter motors lead long and trouble free lives, all they ask is bushes, lubrication and brushes.
It is unlikely that any BMW motorcycle will ever "wear out" a Bosch starter motors - they are a bit "over-engineered". The most common (by far) are (in order) -
lubrication failure on the bushes and bendix due to crud ingestion.
Motor brushes stuck (by crud ingestion)
Motor brushes worn down (have seen this exactly once)
Failure of pull-in solenoid (seen twice)
Weird stuff like winding failure (once)
So..... Pull it out, disassemble, clean to within an inch of its life, reassemble using either the special grease known only to auto electricians or using waterproof boat trailer bearing grease, and it will go another 40 years without complaint.
By all means change the brushes if you really think you need to, but be aware that you need a pretty powerful soldering iron and a high lead content, flux free solder . A long time ago I put new brushes in using "electronics" solder and the amount of current that passes through a starter created enough heat to melt the solder I'd used and defeat my good work - this was however on a VW car which uses a very similar starter motor.
Lastly, there are Valeo and even Nippondenso starters that will bolt in. Hundreds of thousands of words have been written about Valeo starters. Nippon denso make a fine starter, apparently the one needed is very common and only needs 20 minutes work with a No.1 bastard cut file to "adjust" the fit into the boxer engine. But why would you bother? Refurbing the Bosch will take a few hours of your time and it will then soldier on, working perfectly well beyond your likely tenure as the motorcycle's carer.