The only maintenance I do is make sure all the bearings are turning right in the tranny, diffs, etc. Every once in a while, I remove the motor and spin the shaft by hand to feel how smooth it is. If it turns rough, I clean or replace the bearings. The motor bearings spin the fastest/most and as a result, would exhibit the most wear if they were not clean.
Well, a motor should turn easily. This does not include the resistance from the magnetic fields, which fells "bumpy". Dirty bearings will feel like it's dragging and might even make a gritty sound.
There are bearings at just the front and rear of the axle, so two. I'm not sure, but a higher-end motor may have two bearings on each end.