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On the Frontier I have been using a standard grease gun with flexible extension, insert through the holes, reach around behind the wheel and finger fit the nozzle onto the zirk, hold in place with one hand and pump with the other. Seems to be at a slight angle but locks on pumps grease. Helped to take a well used nozzle and put it in place of the newer one - easier on and off. That's my 2 cents.
I always use a needle attachment to do those not much room bewteen the grease fitting and the axle flange on the front and rear