Two weeks ago I took my 2010TE to the dealer for an oil change .
When I told them I also wanted the prop shaft greased they said ok but the only time they will grease them is when a customer requests it .��
If you are handy with maintenance , do it yourself. I did my 2015 TRD and it took maybe 10 minutes for the four u-joints grease point. I ordered a separate grease gun to do the two slip yoke fitting that call for moly fortified grease.
It was really a very simple operation , at least on my truck as I was able to access all fitting simply by crawling under the vehicle.