The camchest cover has to come off which usually means the floorboard and front exhaust pipe have to be removed to get it off. Once the cover is off the front tensioner is visible for inspection. To see the rear you need an inspection mirror and bright light. You can remove the cam plate but that involves a whole lot more work. Normally the rear will be worn worse than the front ,so if there is much wear showing on the front you can count on the rear having more. In my personal experience on 2 different Dyna's, I had to replace tensioners after 25K on one and after 35K on the other. The first was a 2000 model and the second was a 2005 model.
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2011 RG Ultra Brilliant Silver Pearl