Yeah, you need Zerk fittings for the ends. I use Synpower Synthetic w/MoS2, NLGI No. 2.
My ends are stock, but I grease them by very carefully inserting a grease injector needle between the boot and stem and pumping a few times. One end looks like a hypodermic needle while the other is a Zerk that snaps into the grease gun hose.
This technique will work for ball joints or any other component like this that does not are not considered greasable.
