Steering U-Joints

I have a 2006 with 100,000 miles and was wandering if the U-Joints on the steering shaft should be lubed. Since the car was new it has had a heavy feel. It does not have the steering ease of real wheel drive that I have experience in other cars. I attributed it to being intentionally designed like this because it's a sports car. A recent long road trip left my hands tired from steering. Is this steering typical of this generation Mustang or do I need to lube? It has the Pirelli P-zero tires on it which are new. Thanks.