Yes, you can lubricate a CV joint, but it typically requires removing the joint from the vehicle. Most modern CV joints are sealed and pre-filled with grease, so they usually don't require additional lubrication unless they are damaged or the boot is torn, allowing grease to escape. If you are experiencing noise or vibration from the CV joint, it may be more effective to replace it rather than attempting to lubricate it. Always refer to your vehicle's service manual for specific guidance.
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