The first question asked was grease on the drive gears. I would suspect initially on high quality machines this would not be needed for quite some time. I never tore apart a Rupes, or Flex Polisher, or seen Schematics of them, but would assume they use of a number of Sealed Bearings versus Bushings of some kind.
There's then no benefit from grease on Sealed Bearings, but would be on the Drive Gears themselves, or Bushings, lessening wear on them over time. And another slight benefit could be smoother and quieter operation.
Centrifugal force and heat will eventually sling protecting greases away from gears over time. I noticed that on my baby Griots 3" after only one use when I operated on it once.
If you are adept mechanically, and the machine is out of warrantee, I see no harm-foul in maintaining such machines periodically.