I'm no expert, but I've seen the topic come up multiple times and I know what the FSM says.
There seem to be differing opinions on the threads I've read and you'll see 2 extremes - either people claim you break the seal if you overgrease or you'll see people say the only way to know you have enough grease is to see it leak out. The people who claim overgreasing is bad say the best thing to do is remove the zerk and let the excess grease leak out that way.
See
Too Much Grease in Drive Shaft? as an example.
See
Mobil 1 synthetic grease nlgi no 2 as another example.
The FSM states the following (for 05 lx470) in the propeller shaft assembly section (PR-7):
HINT:
After installation, pump MP grease into each fitting with a grease gun until the grease begins to flow around
the oil seal.
I'll point out that under the FSM MA-10 for maintenance and lubricating the propeller shaft, it does not state that the grease should flow around the oil seal.
If we wanted to read into the FSM like it was the bible, I'd interpret that upon initial installation the grease should flow out but upon subsequent (normal) maintenance lubes, no need. It also doesn't warn in the FSM about overgreasing. Furthermore, I think everyone would agree that overgreasing the spider joints isn't a problem, just overgreasing the yoke is the debate...?