Can anyone show me a diagram or tell me how to properly lubricate em?

 

If they aren't sealed, which they should be. Then it would need zirk grease and its a special fitting.

 

There is no method Honda gives for lubricated a steering rack. CV joints should be sealed with the boots and as long as those boots aren't leaking there would never be a need to further lubricated them. Is something making noise that concerns you with one of both of them? Or just trying to maintain?