My old '78 Bronco, with it's monster lift kit, I had to drop the transfer case end of the driveshaft to get enough opening in the CV to grease the crosses and center pivot. The axle end of the shaft was easy enough to rotate so the zerk (or needle) on the cross was accessible. Given the more extreme shaft angles on lifted vehicles, I would recommend replacing any zerks with the needle sockets. That's what I did on my lifted vehicles to ensure clearance.
Given how Dodge has created a monopoly stranglehold on the driveshaft (and any other frickin') parts, *I* would have a custom driveshaft built with Spicer parts, like I did with my 2012 RAM.
Second choice would be to have a precision machine shop drill and tap the center of each cap on the cross and thread in a needle fitting. That is not an optimal or recommended solution to non-greasable joints, but if done correctly, it would be safe and effective. Big downside to that idea is weakening the cap and potentially having it crack and blow apart under load. Not a problem with all the grocery-getters driving around but certainly a concern for someone with a real truck.
