lubricating intermediate steering shaft
 

I am having trouble understanding how to lubricate the intermediate steering shaft on my 1999 Ford Ranger, 3.0 litre, 2 WD, Automatic transmission, Rack and Pinion steering. I was told there is a slip joint in the intermediate steering shaft, and that I should remove one of the pinch bolts, lubricate the shaft, and slide it in and out. I can only find one pinch bolt and that is right above the steering rack, under the boot of the steering shaft. I am confused, do I take out the pinch bolt I mentioned and pull up and down on the shaft going into the rack?
The reason I am trying to lubricate the intermediate steering shaft is because I have clunking noise after the truck gets hot, and it was suggested that the shaft might need lubricating.