How to grease/lube tie rod and sway bar end link boots?

I bunged up my outer tie rod end while trying to replace the needle bearing and install 6112s. I also spun the crap out of the sway bar end links before I realized what I was doing - resulted in a lot of lube coming out of the boot. Have new tie rod ends coming, and also want to relube the existing sway bar end links. When I opened the boot even slightly, lube started coming out. What's the preferred method AND grease/lube recommended for the boots of these pieces? Some sort of syringe?
Also - truck has 70k somewhat hard miles. Is it recommended to replace the sway bar end links while I'm in there?