Although I've said this before and isn't universally agreed with, when I bought a 2 year old 80 series in 97 I drilled and tapped the square headed plug and put a grease nipple in. I did a full service every 4.5K and every time I greased the front prop I gave the swivel greasing plug 3-4 pumps.
I kept the truck for 16 years and did 100K in it. During that time the front hubs were never apart, I only repacked the wheel bearings once due to needing a tweek of adjustment. The swivel bearings were never removed, I never replaced the oil seal as it never leaked. There was never any play in the swivel bearings but out of curiosity I split the track rod end off and felt the condition of the aforesaid bearings, they were perfect, no notches at all and no play, smooth as you like.
during my ownership I changed the diff oil twice ( 60 and 120K) and it was perfect both times.
Now whether this all was due to the fact that these service items were carried out or it was just pure chance the swivel assenbleys remained in perfect condition is for others to speculate but from my experience there is no harm done from introducing grease to somewhere Toyota says its supposed to go.