I know I’m late to this party and things appear to be sorted out.
But, is that dent from the DS coming in contact with the sway bar? Or, vice versa ?
Yeah, I was wondering about that myself. Makes me think the DS had a U-joint or yoke failure while running and things flailed for a few moments, but there's no other carnage apparent.
In any case, I'd replace or have that DS inspected and balanced if there are vibes present.
and after you grease you remove the zirk from the yoke to make sure the grease is not causing binding?
Depends. That's one way to do it if you just pump everything full.
I generally grease the slip joint zerk to the point where the slip joint just starts to move. Always seems to be enough grease in there and this avoids problem of too much grease in the slip joint that requires zerk venting by removal.