[ERA Chas]

Is the car still for sale? Is that why you're cutting the corner to not remove the wheels?
The wheels are important maintenance by themselves. BUT:
If you're selling it and have a hard pedal and clear fluid, it's unnecessary in the first place to do the job. If you're keeping it, it's your ass and you should flush brake fluid every second season with wheels off. No matter how lightly you use the car.
Get the bleeders first as Dan says.
Pull the front wheels and inspect the weights and condition of the antiseize; clean and renew the antiseize. Do the threads, hub face and tapered spinner seat. Inspect the ball joints and rack boots.
Bleed the rears with the wheels off. Leave the cockpit in place. You can get small throws on the bleeders with a small open end, through the forward shock coils-that's why you need Speed Bleeders. If you can't, undo the lower mount bolt on the forward shock and pivot it out of the way.
Same thing with maintenance on the rear wheels. Inspect the condition of the rubber fuel line connectors with them off. Grease all the zerks on the uprights and joints. Check the diff fluid level.
Don't cut corners with an ERA-it's your ass remember?