Thanks!
Despite taking wheels off and fender liners out, I could not find an access from the bottom. The outlets are also inaccessible from the window cowl - although I was able to peek at them through a sheet metal hole using an articulating borescope camera.
Turns out access to the drain outlets is relatively straightforward from the inside. On the passenger side, I took out the glove box, since it's easy. On the driver's side, there is enough clearance to get your hand there without any disassembly. If you have big hands, it might be a problem.
After disconnecting the tubing from the outlet nipple, I got a few inches of dirt and grime out of the tubing using a long drain tube brush. Then I used the long end of a 5/32 Allen key to punch through the bug screens on the outlet fittings. After reconnecting the tubing, I used a bit of copper wire to zip-tie them to the nipples. The drains work again!
Now I still have two questions:
(1) According to the parts diagram, there are rear drain tubes as well (#20). How to access them, in particular the outlets?
(2) To really fix the problem, I need to stop water from getting into the car in the first place. Is there an issue with the profile gasket around the sunroof glass? Suggestions?

- Sunroof parts Nissan Rogue 2013