Instead of trying to grease them, if you suspect a problem with your U-joints, you should:
* Listen for clicking or popping noises: This is a classic sign of a failing U-joint. Pay close attention when turning, especially at low speeds.
* Check for excessive play: Grab the driveshaft near the U-joint and try to move it up and down or side to side. Excessive movement indicates wear.
* Inspect the boots (if present): Some U-joints might have rubber boots covering them. Check for tears or cracks in these boots, which would indicate a potential lubrication problem.
If you find any of these issues, replacement is the recommended course of action. It's far safer and more cost-effective in the long run to replace a worn U-joint than to try and repair a sealed unit. This is a job best left to a qualified mechanic unless you have significant experience with automotive repair.