Thanks for using Just Answer.
The answer to your question is there are no lubrication points all of the joints are sealed.
Here is a pic of the steering where you can see all the joints
On the linkage at every joint would be were you would lubricate if there was a fitting but the factory ones are sealed with no lubrication point.
The only thing on your vehicle that would need lubrication unless of course you have a failure are the front wheel bearings.
Now they do have rubber boots on the joints and if you want you can get a small lubrication needle and inject grease this way.But make sure it is a small one not one of these large ones that actually put a big hole in the boot where moisture can get in.
ASE Certified Technician
33 Years Experience,Ford Senior Master,ASE Master,L1 Advanced Engine Performance