I'd say it's about as difficult as a diy oil change, though more fiddly if you don't have a way to lift all 4 wheels off the ground. Here's a YouTube diy for the gx460:
It's more or less the same. Somebody please correct me if I'm wrong, but I believe there's 4 zerks for the u joints (one per), but only one slip yoke zerk fitting on the rear driveshaft (now located on the large section of the driveshaft, seemingly different from the gx460 which is on the small section near the u joint). The front slip yoke seems to have a gaiter and no zerk, but I'd like to hear from anybody who's found a front driveshaft zerk.
I use Lucas red n tacky grease, but the manual says any #2 non-moly lithium grease will work. I filled the u joint grease until all the white / grey factory grease was purged, and I pumped like 13 pumps of grease into the slip yoke and it didn't budge an inch - STOP GREASING THE SLIP YOKE IF YOU SEE IT START TO MOVE OR EXTEND. Greases don't mix well, so I tried to fill every u joint with only red n tacky, but the slip yoke doesn't have an overpressure purge mechanism, so I'm just gonna have to regularly keep on top of filling it with fresh red n tacky every 5k miles.
The slip yoke being totally empty seems to have the most effect on the clunky driveline and thunk into second / first gear. Every time I grease it, it turns my GX into a whole different luxurious car with imperceptible shifts and more immediate throttle response from a stop. The LX470 had a similar complaint, so looks like some things never change hahaha