How do I inspect and make repairs to rehab an occupied property?

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I have a rental that currently has good tenants, but I am well overdue on maintenance on my property.  A few years ago, I needed cash out of my equity and my property appraised for 20k under market value.  I am trying to build back equity in my property before I have no choice but to make repairs as I feel they are around the corner.  How do I find out exactly what to fix and how do I make repairs when I have good tenants currently in the property?