I use the klein foam works really well, have never used any lube with simpull type wire so i couldnt say.
I have used simpull wire and it went right in so as only an educated guess i think lube on it would be wasteful unless it is a loong pull with all 360° worth of bends used.
I've only used SimPull in NM and I never have to use lube on NM. Although I probably should have on a couple of occasions.
I usually use lube on conduit pulls with either larger wire or several bends. I had to pull in some wire in conduit that already had conductors in it. Don't think I could have done it without lube as it was difficult even with the lube!