I use prolong on mine, it sticks well but of course causes dirt to stick too. So I wash them after each trip... You can also take balloons and slide them over the heims then cut the holes on each side for the bolts and bolt them down, it will keep them clean. Or for a pricier option, get some heim boots from a desert racing shop.
It also depends on your joints. Are they teflon? If they are teflon they are self lubricating but it deffinately doesn't hurt to lube them. If they are just steel on steel then you definately need to lube them.
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