Thanks to ScottyNeal for pointing me to the fork revalve thread, and to tomla for the idea of using PVC to make a spring compressor.
I bought a set of Motion Pro 41mm fork seal drivers ($42).
I made a spring compressor out of a PVC coupler, some threaded rod and some nuts. I made a fork spring stopper out of a sheet of aluminum.
For the fork piston rod puller, I discovered that standard table lamp parts have the same 10x1.0 mm thread pitch as the damper rod. I made a puller out of a tube that had male threads on each end; threaded on a cap on one end and a female threaded coupler on the other end. This stuff should be easy to find at a hardware store.
This is all stuff I had laying around (other than the PVC coupler which cost $2).
I found a video that some guy put together to show the step by step disassembly and reassembly of Showa forks, which are virtually the same as Versys forks:
That is part one of disassembly. If you're interested, you can follow the links next to it to part two and the 2 parts of the reassembly. I found it very helpful for visualization (along with the service manual from this site) before I embarked on the process.
Things I learned that aren't obvious in the manual:
You don't need to remove the bottom bolt that holds the cartridge to the inner tube if you are just changing the seal. The cartridge can remain where it is.
The right damper rod is hollow and when you pump it up and down to either remove all the oil or charge it with new oil, oil will come out the top. If your fork piston rod puller is a hollow tube like mine, oil will come out the top or any threaded junction. I ended up gluing the parts of my puller together to seal them and minimize the resultant mess.
Included pictures show tools, as well as them in position on the fork.
I hope this helps anyone else who wants to do this.