Lubricating the PTO stub is important.
Grease would not be my choice; grease can form a grease collar/bubble and resist connection/release.
Fluid Film is best. Just the right viscosity, heat resistance and a strong anti-corrosion material. It is worth having Fluid Film just for the PTO connection.
WD-40 is pretty good too. EVERYONE has WD-40. However, when the PTO connection gets hot, WD-40 will evaporate, leaving you short of lubricant and short of corrosion protection.
Scrub both PTO stub and implement splines with a wire brush occasionally, wipe clean and re-lube with Fluid Film. It does not take much dirt or dried sap to make connection/release difficult.