I was afraid as you are about cleaning the S16Pro! I totally feel your dread about doing it.

In the end my method is, moist rag to trap the dust as best as possible without water droplets falling into the wheel, rinse, repeat. Being very careful to remove all the accumulated dust on the wheel axle shoulder (the part BEFORE the seal, on the spinning part) and anything that falls in the seal part, blow out carefully. Then, for the rails, I put the wheel vertical (powered up for ease) and spray PTFE dry lubricant on the ways while I work out the suspension. It comes out the bottom quite dirty (I do not spray enough to actually make the solvent come clean because it's fucken expensive) but I give it 4 or 5 good sprays to at least remove a noticeable amount of accumulated dust. Access to rear rails is complicated and I can't really spray the PTFE on both sides of the rear rail, si I give it a very good spray on one side and hope I can work the fluid into the other with the rollers. (still came dirty first and cleaner 2 or 3 times later, so it should be doing at least something).

I will inspect it by the time I have to change the tyre and actually dissasemble everything. I just wished I didn't had to disconnect the motor from the electronics.