I generally hit those joints periodically with alittle Power Lube.Why?? Cause I have run into these joints "frozen solid" with rust.Why were they full of rust?? Cause no one took the time or bothered to lube em,or atleast coat em with alittle oil, which takes all of three or four seconds to do.It's little things like this that make the difference between a well running machine and a night mare!!
I lube mine every three months or so. I like the way they are designed on the Indian, but they are underneath the bike and catch some road grime. So I clean up and use some dry slide or similar on the outer pivot. Like Davetac said, they can get a little crusty and stiff without occasional maintenance...
I put dust boots over the shift linkage Heim joints on our Indians. This will not prevent regular preventive maintenance, However, it keeps the grime off of them and reduces the frequency of cleaning\lubrication.
I wrote a thread about it last year. I'll see if I can find it.