A newbie has PM'd me for more details on lubing the UJ's which I've replied to, but thought I'd post the reply in case anybody needs it with the warmer weather coming ....... soon
Some people say it can't make any difference as the UJ's are sealed, but it did on mine and several others and I haven't had any tight steering issues for over 6 years suggesting tight UJ's are not the same as classic 'stick steering' caused by binding in the column on some pre-facelift zed's.
First up I'd avoid using WD40 it will loosen/penetrate but actually dries and removes other lubricants.
I use a PTFE or silicon type lube spray that is safe on plastic/rubber get some upwards in around the white plastic collar and cured the dry squeak/groning sound that started in some weather conditions.
Tool station do some good sprays http://www.toolstation.com/shop/p63929mkwid=sz907npha_dc&pcrid=142461465581&pkw=&pmt=&product=63929&gclid=Cj0KEQjwwoLHBRDD0beVheu3lt0BEiQA
The same stuff will be safe on the two universal joints (UJ) but won't stay in place long as they are exposed and get hot, so better to use a thicker gear oil, thin grease or even engine oil if you are stuck (I don't think it really matter too much). I used a thin brush gaffer taped to a 18" long length of tube to make a long-handled brush, this allows you to 'paint' the lube in to the two UJ's, turning the wheel to get at all sides of the UJ. A bit of card or whatever underneath prevents the inevitable drips
The first UJ is clearly visible down the drivers side of the engine, follow the shaft forward under the front of the engine and you will find the other UJ before the steering rack, but it's tricky to get to without the long brush or jacking up.