[DanEC]

I bleed my inboard brakes from underneath - but it was probably only practical to do so because I had speed bleeder valve screws installed (thank to ERAChas) which simplified things. I don't know if I would want to try to do so with regular bleeder screws. It's tight getting your hand up there and then cranking the valve open and closed with a wrench while someone is pumping the brakes would be really tiring and probably messy. You could try hooking a vacuum bleeder pump up and then crack the bleeder screw open but you may still spill a little fluid in the process.

Not sure about getting to them by pulling the wheels. I didn't try that - not sure if you can get to them on not.

If you pull out the access panel in the interior, I would suggest getting some speed bleeder valves and install while you are in there. I found mine on the shelf down at a Pep Boys. They have a check valve inside so you can crack them open and no fluid will come out until pressure is applied to the brake system. When the pressure is released, the valves close so no air gets in. Pretty handy little deals.