After 90,000 miles I need to change the fork seals on my K100RT. Is it possible to get fork legs out without removing bodywork?

In theory, yes; but you'll still need to remove the inner panels to get at the bolts on the top yoke and the infill piece in the fairing chin to get at the bolts on the bottom yoke. With that mileage at this point I'd be thinking 'to hell with this' and remove the radiator cover so that I could regrease/replace the headstock bearings too.