2010 4Runner Suspension Service and Repair Manual

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Usually you would just use a grease gun and grease the u-joints every now and again. More often if you're in the sand a lot or driving through water/mud. There should be fittings on the rear drive shaft and on the front one if your's is a 4x4. I haven't personally checked to see if the 4runner has them, but my Tacoma did so I'm assuming the 4Runner does too.
 
Usually you would just use a grease gun and grease the u-joints every now and again. More often if you're in the sand a lot or driving through water/mud. There should be fittings on the rear drive shaft and on the front one if your's is a 4x4. I haven't personally checked to see if the 4runner has them, but my Tacoma did so I'm assuming the 4Runner does too.

Thanks. It's listed as a maintenance item in my owners manual so I'm hoping it's as easy as some grease fittings.
 

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