No, no brake bleeding (or caliper disassembly or brake pad removal) is required on either standard or ABS models to get the rear wheel off.
The key (as is described in the service manual) is to get the exhaust pipes out of the way, remove the lower rear fender extension, remove the rear caliper stopper bolt, pull the axle out far enough that the entire caliper (and the frame it is mounted too) can be lifted up and out (lifted up off the rear disc), and you then tie it up out of the way. The whole rear wheel then slides to rider's left about 3/4" of an inch and comes off the drive splines.
Do NOT press any brake lever or pedal while the rear caliper/pads are removed from the rear disc!
Don't forget to reinstall and properly torque the caliper stopper bolt ... bad things can happen if that bolt is missing or loose.