I have an 09 RG with the cast "28 spoke" wheels. Yes it's hard, but for the front, it's not an issue. Front valve needs to be somewhat on the lower front so roll the bike around. For the rear, I roll the bike until the valve is on the bottom. I then go to the right side of the bike and I have to lay down, but it's do'able. The valve on the rear tire is on the right side of the wheel. Yes it's a pain, but rather use a 12 volt air compressor in my garage than trying to do this at a garage in a parking lot.
I'm getting it down pat now as I check my air each Sunday, same with all my fluids (just a habbit I got into over the years of riding).
Good luck!