Why are you giving advice on a SR/F, when you own a 2014 Zero S, that is a completely different animal?
A) It's not a different animal, it's a motorcycle, and it uses 12v for the lights and accessories because those already exist.
B) This is the same as doing it on a car or a computer. Or even a house!
Adding to a circuit is pretty simple - once you find the circuit you want to piggyback to, you splice in there. Red to red, black to black. (You don't want to connect black to the common ground (the frame) because then other systems might route through your splice as electricity takes the shortest route. Especially on an electric vehicle (or a house). Let the previously existing common grounds do their work.)
Sure, if someone knows what kind of open plugs the SR/F is using, that would be even better. But like a preference in splicing, that comes down to tools and preference at hand. I have rather liked the heat-shrink-solder types of late. When done right, they're more resistant to corrosion and vibration than clips. That and SAE clips is what I use on my 100v solar set for camping (and Burning Man).
-Crissa