The only places you can get to are the bobbin area and the take-up -- if you can get the needle plate off and the end cap off. Only use clear sewing machine oil. The bobbin area only needs a little oil under the plastic bobbin case, and on the feed dog linkage. The take-up needs oil in each joint, and behind the pitman (the bigger, round metal part that's just past the take-up). But these only need attention about every 6 months to a year.
All machines need oil. However, these new machines aren't very consumer friendly. The consumer can't take the covers off and get inside where the shafts and eccentrics are. It's not really that they are "self-oiling," they just need a tech to do the oiling for you. The outer covers on these computerized machines should never be taken off by the consumer.
If you sew every day, you need to take your machine in for a service at least once each year. But never let your machine go more than 4 years without a service. We need to get inside and remove the lint that gets packed in the gears, and oil the shafts and eccentrics.