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If no zerk fitting, you can't lube. My info says, no fittings and no plugs. The joints are lubed and sealed at the factory. If joint problem, my thinking, replace it.
Check your vehicle's owner's manual service guide; contact the service or parts dept at a local Mazda dealership; visually (look) at the steering linkages, or call your local auto parts store...I know that some models have sealed units with no lube points and others that have lube points...the consideration is model and are the steering components stock or aftermarket?
You need a grease gun and grease. Locate all grease "zerks" on upper & lower ball joints, tie rod ends, etc.. Clean of dirt & grime build-up off zerks, push grease gun on and give a few pumps, then on to next zerk.
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