I've read that you should clean and lubricate both dump valves yearly. I bought a used class B+ in late 2019, not sure if previous owner ever did that. I'm pretty handy, but a little nervous about ta...
If they are right at the outlet, it's pretty simple. 4 bolts and the come apart (make sure to fully drain the tanks of course before pulling the bolts).
If they are remote (operated by cable), it can be more challenging getting to them (often they are hidden under the underbelly covering with no easy access) but once you have access it's not greatly different.
While I wouldn't discourage lubing them, regular use is probably the best way to keep them operational.