Americium: How a small element could power the next century of space exploration
(interestingengineering.com)
Yeah, but there are many good options. Magnetic alignment can keep things from touching most of the time, maintaining very good movement without friction. Graphite is a great lubricant and works even in very cold environments, not to mention it will not be all that cold given the heat passing through the system. Redundancy is also a big part of the design, making failures much less impactful. And using sterling engines for the highest draw part of the lifetime of a probe with peltier style generators there for later would allow a failover to a solid state system at lower efficiency.