Lower link has grease nipples so you just use grease gun if all you want to do is regrease it.
You can do a seasonal maintenance job which just involves checking torques. There’s a guide in the tech documents here: http://www.santacruzbicycles.com/en/uk/support/tech
That’s normally all you have to do to deal with play in the links. Usually I take out the wedge bolts and wedge bushing and snug up the axle slightly. Grease and put back together. If that fails, then bearings probably need replacing.
That seasonal maintenance guide is specific for the older alloy models, but principle is the same. Don’t rely on the torque specs, look them up for the actual model and even then as I’ve found, don’t trust them (snapped one of the bolts in the upper link the other day, torqued to spec).
There are exploded diagrams in there for various frame models also.
If you want to pull the axles out and clean it up, then take the air out of the shock first if it’s an air shock. Not sure with coil, but I’d assume it needs tension taken out however you do that.
P.S. If you want bearings done, they’re lifetime warranty from Santa Cruz. Just pay the labour cost at the LBS (£35 in my case) for new set of bearings. When you consider the price of the bearings and the cost of a set of blind bearing pullers you’d need for these, plus the hassle, it’s worth it. Or if you DIY, just send the old bearings to SC and they should send back replacements for free.