To answer my own question. For posterity. The handwheel on the 211A and 211U comes off with the bearing. When you re-assemble, to remove any endplay, you screw in the grub screws, hold the needle bar crank on the other end, then tap on the handwheel with you palm till all slop is removed. Then tighten the grub screws. I think cleaning the shaft will make it easier to pull apart.
It doesn't seem all that easy to replace the bearing. Likely you need a special holder fixture and a press to press the hand wheel off the bearing.