The best and only way is to pull the swingarm. I only did the manual way once....it was enough. I've pulled the trans three times.
This was my first time pulling the transmission and I recall my major problem was when pulling the transmission back it hit on a frame member and I couldn't get the internal clutch (thrust?) rod to clear. As I was doing this with no helper I remember trying to get the transmission to clear and the damn clutch rod was getting in the way. In hindsight (with a helper) I could have pushed the rod into the transmission to get it to clear. Next time will be easier. Would be nice to pull the swingarm, and not deal with the engine pins.
Pull the clutch rod and remove the actuator pin that goes through the trans...makes life a lot easier.
The push the engine forward is a carry over from the previous models..especially the /2 era. Easier than messing with the twin shock rear swing arm. I tried it on a G/S exactly once...never again. Moving the single swing arm is SO much easier. With the right tools and experience, the tranny is on the bench in 30 minutes or less. Just did it this morning..in fact for the R100GS it's even faster since you have more room.
Sadly, With so many conflicting ways of doing things in the manuals It's almost a better idea to just come to ADV and read up as well as ask questions
In hindsight...ths would have made life alot easier! Oh well. I'm having fun renewing alot of the parts and giving the bike a good going through. While the trany is away (did I mention I am also going to get a taller 5th gear - swiinnnggg!!!), powder coat a few parts and renew alot of rubber bushings, and rebuild the BINGS. I have hoping what rolls out of the garage is a sweet ride. As a special gift to the bike I am treating it to a new Wilbers Shock to replace the stocker. The story if anyone asks is I need it for safety as the original is 20 years old. Yeah thats it.....SAFETY
That's the fun part about these bikes, as long as you dont screw something up too bad you can learn a lot by wrenching. So many other bikes are not very home mechanic friendly.