Get a grease gun with a flexible hose, it makes life easier. I have found no easy way to get the gun onto the zert of the front drive line, even with an angled tip.It is hit or miss, mainly miss, just keep at it until the you get the gun fitting on the zert.
I usually end up with grease going every where but into the zert, a third hand would come in handy.

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2007 Tundra DC Limited 5.7L 4X4
TRD,NAV,TOW
Xlerator Exhaust
aFe Stage 2 CAI
BFG AT/KO 285/65/18
Desert Sand Mica