5 to 6 year old bike with 20k had hardly been ridden. I wouldn't worry about it. Do the doo and maybe freshen the suspension and put another 30k on it without worry. Maybe ensure the valves have been checked or check them to be sure, perhaps new spark plug and air filter clean too.
Odd grammar, words and spelling brought to you by my iPhone's autocorrect.
2007 BMW R1200RT
2002 Honda XR400r