It's not hard to do. Get a one handed grease gun w a 12 or 18" hose on it. I used M1 wheel bearing grease. I didn't grease mine until the truck had 14,000 miles on it. Don't over think it, just grease the 5 joints in 10 minutes and get on w ur life. Mine took 5-6 pumps before they were full again.
More room if the truck is on stands. Ill just do mine when I rotate my tires every 10-15k
Put the truck in neutral and u can spin the shafts as you please