I just did mine this spring, Whan you have the swing arm hanging and the tire off you can move the rubber boot from the rear to access the front splines. I used a small paintbrush and applied the grease to the splines. They were dry but no rust. You can move the drive shaft back and forth to get them lubed good, you dont want to remove it because it would be very hard to get back on. As long as the rear drive is off you can move the drive shaft, mine wouldent come all the way off even if I tried. A quick tip, If you put a 2X6 under the center stand it will give you more hight to remove the rear wheel. You can also tie the Center stand to the front tire, It cant fall then. Good luck it was easy.
Chad Falstad "Hawk"
2011 HD Ultra Classic "angel"
2001 Nomad 1500 Sold March 2012
2001 VN 750 "Sold June with 2008 with 21,000""Serinity"