Ball joints will be better lubricated if you grease them while the truck is on jackstands without load on the suspension. This will also allow you to turn the wheel to one side or the other to make it easier to get to some of the fittings. Remember to hit the fittings on all four u-joints. Clean the zerks before you hit them with the grease gun and wipe them off afterwards, too. I also put grease on the contact point for the steering stops, the little protrusion that keeps the steering knuckle from turning inwards any further. You can identify it by turning the wheel hard over one direction and looking for what makes it stop (what a concept). From the factory, there's some kind of a rubber stopper on the contact point, but it usually wears off and then it's metal to metal and will screech when you are at full-lock steering and the suspension flexes, which is really annoying. Just put a big schmear on each side and it'll help.
John B.