There should be bolts on the oem universal joints in the rear driveshaft, take them out and put some zerks in for greasing. The front drive shaft has a zerk on the slip fitting. Make sure that's nice and lubed. I would start by lubing all your front end parts (Valvoline moly-ep I think thats what it is called, is a great grease, nice and thick) and then look into worn control arm or tension rod bushings for the squeaking if that doesn't solve it. I've never heard of anyone greasing the torsion bars before since they sit in splines and don't' really move.