I just greased my Scura driveshaft. Took maybe 10 minutes. All anyone needs is an extension for the grease gun with about a 45 degree bend at the coupler. You fish it from behind the bike, through the swingarm tunnel through which passes the driveshaft, and "click" onto the fitting of the front joint. Just turn the joint to position the grease fitting at the top beforehand. A flexible couple works great. As indicated here earlier, Sears has one. Lubrimatic also makes the best one (which is carried by stores such as Ace). The Lubrimatic is a jointed coupler that you can bend to virtually any angle. It has a locking collar for holding the coupler straight but I removed this to provide an even slimmer profile. I put a 1/8 pipe coupling and a grease fitting on the threaded end of mine instead of attaching it directly to mu gun. I then click the extension onto my joint fitting as described above and then click my gun fitting onto the extension fitting.
Nooo, I do not think the squish around the seals hurts anything. Ive done similar joints many times before. The main problem with too much squish is that it will sling off onto everything once spinning.
By the way, my joints at 2500 miles were already full of grease anyway. I guess Giuseppi was back from lunch when they assembled mine.