What I do:
Lift center stand onto some 2x4s so the massive beast-thing is up high. Maybe get some help to do this part...drain the rear drive unit...remove rear brake caliper bits...disconnect shock linkage...unbolt pumpkin from drive shaft housing (pumpkin == rear drive gears, a.k.a. the stuff the rear wheel bolts to)...DO NOT LOSE THE LOOSE BITS THAT ARE IN HERE!...and Wrestle the rather large rear-wheel-still-hanging-from-pumpkin assembly out from under the rear fender...
THEN, and ONLY THEN, do I separate the rear wheel from the pumpkin...no sense fighting with the exhaust hmmmm? No reason to...
90-120 minutes tops to pull, change tyre, grease wheel bearings, clean up the rear brake hydraulics and brake caliper, reinstall in reverse order of course...I also clean the rear brake master cylinder NOW and bleed all the old brake fluid out...change rear brake pads and scuff brake rotor unless really nice in there...Grease linkage bearings, and all is done at once...
That rear wheel doesn't come off often, and I like to keep it that way!!