Alright, here's my contrarian position on the splines.
First of all, there is NO defined service interval for them. It does not exist in any BMW manual or specification.
If your bike doesn't shift smoothly, you should consider checking the splines as one possibility.
Otherwise, I wouldn't worry about it.
I have NEVER had the splines lubed on any of my BMWs, except when the transmission has been out for some other reason:
My '94 R1100RS accumulated 110,000 miles on one transmission without a spline lube. (For other reasons, I am on my 4th trans in this bike, at 212,000 miles; it's a long story, but I've only paid for one trans at 150,000 miles, and I'm not at all unhappy with the service I've received from the bike.)
My 1985 R80 had 92,000 miles on its trans without a lube when I stupidly sold it.
My 2002 R1150RS had 86,000 miles on its tranny when it was totaled.
My 2007 R1200ST has 70,000 miles on it right now.
My 1st R65 went 56,000 miles.
My R90S has 43,000 miles on it under my ownership, and I have no reason to believe that the previous owners ever did a spline lube, so that would be 61,000 miles.
This is just anecdotal experience, of course. But, being that the internet has the effect of greatly amplifying bad experiences, I thought I would try to get a little traction for good ones.