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Was able to get to it with the needle as I had hoped, and yes jacking up one tire to allow me to spin it to the right position was very useful. Thanks for the tip.
 

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I have an Adams front and I grease mine while it’s still on the Jeep, I just pull it forward or backward until the zerk is in a good spot to be able to fit the needle through, it can be a little aggravating getting it in just the right spot and getting to it after but for me it’s a lot easier than taking out the driveshaft, for what it’s worth I use a mini pistol grip grease gun so I only need one hand for that and one to guide and hold the needle
 
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