There has been some previous discussion on this topic; you might search for driveshaft and propeller shaft.
I don't think we came to a certain conclusion, and there were some folks who worried that filling the slip joints on the shafts (as opposed to the spiders in the hooke joints) could blow out the grease seals or place excessive end loads on the differentials or transfer case during compression of the shaft caused by going over bumps.
For myself, I concluded that this was unlikely to be a problem, and that the joints would probably have to have a way to get rid of excess grease. Even if you only add the slightest bit of grease you will eventually fill the slip joints anyway, as they really can't "consume" much grease. More likely, as others have speculated, that the joints will simply spit out the excess and the worst problem you will have is grease splatter.