Yes, lubrication can help, but I also find this helps us as well.
When we close our door from the inside I use one hand to hold the latch open and the other on the pull handle, pulling the door in to the closed position before releasing the latch. Same with opening from the inside, I pull the door in using the pull handle while opening the latch handle. This is to minimize the pressure between the door latch bolt and the plate before attempting to open/close.
Same goes for interacting with the door from the outside. When closing I will pull up on the door handle, holding it until I close the door securely, being sure to apply pressure to the door before releasing the handle. When opening, I press the door in with my thumb as I use my other 4 fingers to open the latch, again trying to release the pressure on the latch bolt and plate.
Doing this also reduces the noise of a slamming door. I hate that sound.