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Im unsure of the actual loads applied to the trunnion when bending, do you think a roller bearing would take it?Thinking of the KISS principle , as it will see limited rotation for limited periods, I cant see why steel on steel greased would be a problem.IMO
Ball,roller,needle bearings will not be a good idea since the bender will be doing only an oscillating motion .That will lead to brinnelling of the race since the rollers will only travel in short arcs.Stay with the steel on steel with zerk.If you cab;t position a zerk where it will inject grease on the load side of the trunion then utilize an annular groove to channel it there.
This is what I did a few years back. Bushings are highly over rated.