Its actually very easy to solve.
You don't even need to jack it up. Just get your SO to operate the handle on your grease-gun as you take the hose and put it on the zerks. I think there are 6 on the AWD models.
On the Ujoints, just a couple of hits should do it. Listen for them to "burp."
On the slip-joint of the shaft, I hit is 18 times. You don't want to put too much in, but it is reported than it takes quite a bit to do the job. Even after you lube this, it will take a few days of normal driving to not clunck. For me it was about a week. I think you could make it work quicker if you find places to drive where you cause the joint to work. Even diving on the breaks would be good as to raise the rear upward and stretching the joint. Maybe even a rough railroad track crossing would be good.
Good Luck......a whole lot cheaper than replacing parts.