For the 200 series, Toyota lengthen the mileage interval for PM lubing, except under severe driving condition. IMHO they did this to lower published cost of ownership. Also, many mechanics even at Toyota/Lexus Dealers don't know or think about we've the six lube points, as most vehicles today are sealed and not lubed. Personally I do every ~5K miles, daily if in sand or deep water.
Lubing spiders, we just keep pumping in grease until old grease comes out and new seen passing seals. Lubing slide yoke is same principle, but great care must be taken. Reason is, seals are so tight and have an inner lip pointing inward. Grease and air becomes trapped pressing on inner seal making even tighter, so one can easily over pressurize the cavity. This extends the slid yoke putting excess pressure on transfer case and differential. Greasing with all four wheels on the ground (AHC in N or L) keeps a neutral stance. This helps insure we've not too much grease, which may over pressurizing while driving. Temporarily removing grease zerk after lube job, helps avoid condition of too much grease in yoke.
Toyota changed recommendation from lube slide yoke untitl grease passes seals. Which is typically how we lube and grease zerk. To pump in grease until first sign of extension of slide yoke.
I've a little procedure I've developed for lubing slide yokes, which are dry (not regularly lubed). After lubing spiders, I take a little of the spent grease and rub on slide yoke seals (prime). I pump grease in slide yoke until I see it start to extend 3 to 5mm, and rub on more grease. I then stop and wait for it to compress back that 3 to 5mm. Then give another pump of grease until it extends again, and then wait for compression again. I keep repeating until grease either passes seal, or it stops compressing. I then remove grease zerk momentarily to relieve pressure. I repeat at next 5K miles PM if no grease passed seal(s) at last PM, otherwise I just give 3 to 5 pumps of grease each PM thereafter.
