Adjustable Steering Column Lubrication

I have a '95 E320 with power telescopic steering column. Lately, the motor has been working very slowly to telescope the steering wheel. Sometimes, the steering wheel gets stuck in its highest (all the way toward the driver) position. I have read in another post that the motor/linkage for the steering wheel adjuster might benefit from lubrication. Is there an easy way to get to this without removing the knee bolster/lower dash panel? Any advice would be appreciated.