Follow up on repair: used the pipe insulation to apply grease to worm gear and everything works/sounds fine. Thanks for all the suggestions.
While the pipe insulation works, I feel bpounds idea of drilling a hole in the square tubing might be a better solution. Much more convenient and less messy. I guess it would depend on if oil would work as well as grease. My opinion would be that it would if applied a couple of time a year.
The other solution of using clear tubing with a zerk fitting attached to the end of it seems like the better solution if one wants to use grease.