In Germany they do modify the u-joints so that re-lubing with a grease-gun is easy.
However... to re-grease the splines, one must pull the shaft off the splines...
I belive in oil-bath! Just pour some oil into the shaft. A bit of oil-sweating around the gaitors is far less problem than damages splies due to too poor lubrication of them...
I use Omega 690 80W/90 GL7 hypoid. Real sticky and climbing - will lubricate all aspects of you shaft, with little spill.
If you are worried about the rubber-shock-absorber, then use automatic gearoil; I would recommend Omega 699 5W/20 - makes wonders to the forks damping, and is very kind to rubber and plastic.
Or to cite a known part-dealer in the UK:
"give it (the u-joints) a good squirt of oil every now and then"
It is no good when moving parts are not lubricated... they have a nasty tendency to wear down fast then...
Humor me - try my "solution"
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Drive Safely,
Albert
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