All splines move. All splines have clearances and tolerances and are designed to be a slide fit. If they were line to line fit, you'd never get them together. Splines are broached (drawn through a die) as opposed to bearings which are machined and polished to finer tolerances and designed to a tighter fit than splines. Radially, these movements are very small, and they generate heat from friction. They must have lube of some kind, partially as corrosion protection, partially to fill the clearances to cushion the movement, partially to prevent excessive wear. Laterally, there is movement so things aren't bound up as geometry changes with the significant torque applied in acceleration, deceleration and suspension movement. Friction and heat again. The front U-joint floats on two splines. If you welded all those things up, you'd have a hell of a rough ride (swingarm wouldn't move much) and something would break. U-joint would fail at some point.
Well known that Honda rear drive splines wear out if not cared for. Clearances may be bigger, material may be softer, surface area may be smaller (less load-bearing area), who knows, so they say lube with moly paste. FJR rear drive flange is larger and longer, thus better. Moly paste can withstand very high temperatures and the moly particles bond with metal.
Bottom line, you need lube of some kind at some kind of service interval that makes sense.