The fork/shock are far overdue for service. For example, Fox recommends a bath oil service every 30hrs riding time for their forks -- damper service every 100hrs. For the rear shock, aircan service every 30hrs and damper service every 100hrs. That said, generally people find the service intervals are on the extreme side -- I service my forks about twice a year and send my shock for damper service every other year.

Even if the fork/shock should have been serviced years ago, if the bike has not been used much, then it's a good bet that the internal components are in fine shape. Cycle through the settings on the fork and rear shock -- check rebound, compression, and lockout. Check around the outer seals on the fork/shock for excess oil. A fork with proper oil in it should leave a ring on the stanchion when compressed, but if you have pooling around the wiper lip of any sort, that's a good indication the seals are worn.

The fork should be fairly simple if you're handy. Fox puts out very comprehensive manuals on all their forks. Rear shock service is a bit of different situation with Fox, since they do not provide damper service info -- though you can easily get an aircan rebuild kit and at least do that part yourself. Servicing the damper itself requires access to nitrogen. The RP can be converted to take air in the damper, instead of N, so then you could charge the damper with a standard shock pump. I haven't done this myself yet, but there's info out there if you are so inclined. The only rear shock dampers I've serviced have been Rockshox, since they put the service info out there and the dampers come ready to pump with a shock pump(with a specialty adapter).