While I was changing the oil today on my 4X4 DC I decided to lubricate the driveshafts. This truck is a little different from the previous generation Tundra for zerk location and amount of zerks. I use Mobil XHP222 grease for all applications.
The rear driveshaft has three zerks.
One close to the rear diffential
The center universal joint.
And the one where the drivshaft bolts to the transmission. This one was a pain because the truck had to moved to the zerk was accessable due to a skid plate
The front drivshaft has two and the one where it bolts to the transmission is a real pain to get the grease gun on. Thankfully the front drivshaft can be turned by hand, I had to face it almost straight up to get the gun on it.
And the final one
Add grease until you see come out of the joint, usually you can hear it also.