Zerk fitting won't clear there.
Same front DS through at least 2018, as of now, the newer refreshed 4th gens are not greaseable, although not sure if that started in 2019 or not.
Easiest way to grease is to remove the driveshaft.
Unless running 4wd frequently, they do not need to be greased every 3k miles or oil change or whatever the recommendation is. Even on the older trucks like yours with no center axle disconnect. 190k on the original front cardan joint on our old 07, still good shape, greased it maybe a half dozen times.