I found this thread on the type of grease and some manual pics.

Drive shaft noise or U joint noise (LEXUS 4/06 TSB page 18) aka Driveshaft thump/bump


Looks like you are suppose to use 2 types of grease

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Black 06 V8 Sport-Canadian Spec
Added:cargo nets, cargo cover, cabin filter mod,compass mirror, headrest monitors & dvd player,