The zeros seem to be in a bad spot. As in there isn't enough room between the yokes to get the tip of the grease gun in there. The grease gun has been used to grease all sorts of zerks from snowblowers to trailer bearings to tie rod ends to Land Rover drives hats. Unless the Toyota uses some bastard size?Are the zerks hard to reach or is your gun simply not fitting over the zerk or feels loose? If the latter, then the grease fitting on your gun is not the correct size for the zerks.
So this is the issue. The zerks on the front driveshaft are too short. The tip of the gun contacts the ujoint cups prior to fully engaging the zerk. View attachment 151656