You can change main jets through that bottom drain plug, carbs still in place, using a stubby screwdriver - as long as you didn't install them super tight with a full size screwdriver when the carbs were off, lol. Pilots can be changed by just removing the bowls, carbs still in place. You can remove the carb tops and slide/diaphragm assemblies to get at the needles with the carbs still in place as well.
Since these are metric bikes, the screwdriver slots in the jets are metric as well. This makes it difficult to find a normal American screwdriver that fits them well, so I've taken to custom grinding 1/4" insert bit to fit perfectly. For installing jets, I only use a stubby screwdriver or a knurled thumb wheel bit holder. These allow me to get the jets tight enough but not too tight. For removal of ones that are really tight, I use a T-handled bit holder ......
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For the small round mains, I found these Bosch #8-10 slotted power bits work perfectly .....
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They need to be narrowed and shortened a little to get a perfect fit .....
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If you don't narrow them down so they match the width of the jet, they won't fit in the bottom of the bowl, they hang up on the drain plug threads. Here's one that isn't narrowed on the right (won't go in) and one that is on the left .....
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For the pilots, I found a 4mm slotted power bit works well. It almost fits perfectly, you just need to shorten it a little .....
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Needless to say, I grind and fit these to brand new jets, not old ones with hogged out screwdriver slots, lol.