how to grease driveshaft splines?

What I have= Regular cab, long bed, manual tranny, no carrier bearing.
What I need to know= how the heck do you grease the input splines on the driveshaft? Other than completely removing the driveshaft at the rear and sliding the input shaft out, it doesnt appear to have a grease zerk fitting. Anyone with this configuration done theirs?

 

If it's sealed with a boot, no need to lube it. If you still feel the need to lube it, then yup, ya gotta take it all apart.

 

is there supposed to have a rubber boot? Mine doesn't. There is a little loose play up and down with the splined end (not the u joint) but where it goes into the tranny. So I wanted to grease it to take the slack out.