I think so, yes. I had to replace one steering gaiter this summer and there was plenty of grease (within both gaiters). The one cross joint can be seen directly in the engine compartment. That one has also new lubricating grease. Is there another cross joint that you can't see directly?

Ah I see, there are two or so more joints.
http://www.gomog.com/allmorgan/steeringr&p.html

May be it makes sense to look at those cross joints which are more below, further away from the steering wheel according to the drawing in the link...perhaps some grease may help. I have not greased that joints before...

'14 4/4 graphite grey