What *might* need lubrication are:
* Leaf spring shackles (if equipped): Some S-10s had leaf springs, and the shackles connecting the springs to the frame *might* have grease fittings. Inspect carefully; they're usually located on the bolts connecting the shackle to the frame and/or spring. If present, use a high-quality molybdenum disulfide grease.
* Stabilizer bar bushings/links: These *can* wear and squeak, but they don't usually have grease fittings. Replacement is generally the solution if they're bad.
In short: Unless you see visible grease fittings on your S-10's suspension, you shouldn't be trying to grease it. If you're experiencing suspension noises or problems, it's best to have a mechanic diagnose the issue rather than attempting to force grease into components not designed for it. Doing so could damage the parts.