Yes
and the instructions are in your owners handbook
Pay particular attention to the bush at the bottom of the shaft.
I use Tri-Flow dry on them, you get it form a pushbike shop .
It is a teflon lubricant in an evaporating carrier so it won't collect dust.
The gears get a spray with dry lithium grease, after being blown down to clean them before putting it away, not before mowing as it takes about 1/2 hour for most of them to dry fully.
All good information. If I could add one thing, the front axle spindles each have a grease zerk. That is the only part of the steering it is ok to grease.