There is also a "QuickStartSample" project that I added last minute. It is a bare-bones XNA project that loads two RigidBodies and a RevoluteJoint between them.
I added this so people could see the basics of using Farseer without the clutter of the samples framework.
As for the samples framework. I tried to keep most the important logic contained in the Demo1, Demo2..DemoX classes so you should be able to just look at these to see how different things work.
I'll be adding to the docs over the next few days...weeks...months??