Recently purchased an 02 and went down under with a grease gun to try and alleviate the drive shaft thunk when shifting between R and D. Reading up on this forum and watching a few videos, it looked generally possible to reach all zerk fittings without lifting the truck. As a bonus, you do not need to drop the stock skid plate / splash guard that is in the way of the front shaft. All guides I've seen indicate removing that entire cover, so I'll share a few photos below on reaching it.
The engine cover has a small hatch in it that may be removed with two torx screws. I was lucky and where parked in my garage, all fittings were pointed at roughly 8 o'clock, if viewed from the rear. This is necessary to get the grease gun up to the fittings in the front through the hatch. My grease gun has a +/- 12" hose. It is easily routed through the hatch up to the fittings with enough room under to pump the grease.
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Hatch in the middle is missing, two torx screws on either side to remove.
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View up through the hatch to the fittings.
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Clearance of grease gun with 12" hose shown through the hatch up to the fittings.