I've only seen a handful of 2wd 3rd gen 4Runners, but they were all the same as far as the driveshaft goes. There is nothing to lube on a 2wd driveshaft. They come from the factory with lubed-for-life U-joints.
Now someone could have replaced the factory installed U-joints with U-joints that have Zerk (grease) fittings, but if they are original, they are lubed-for-life U-joints.
A 3rd gen 2wd driveshaft consists of:
A slip-yoke that slides into the tail of the transmission, that allows for the rear suspension to move up and down, by sliding slightly in and out of the transmission.
The front U-joint.
The driveshaft tube with welded on flanges on either end.
The rear U-joint.
Bringing up the tail end of the driveshaft assembly is the flange that bolts to the 3rd member pinion flange.
A 2wd driveshaft does not have a slip-joint in it, like the 4wd driveshafts do.