Stiction, run-in wear and friction of lubricated polyoxymethylene homopolymer (POM)- and aliphatic polyamide (PA46)-steel tribosystems were investigated for mild-loaded mixed lubrication conditions with and without thermal conditioning of the polymers in the lubricant prior to testing. Macroscopic oscillatory tribometry and standard gliding experiments were carried out. The hypothesis that sorption of a lubricant into a thermoplastic polymer and partial solving of the surface by the lubricant can change wear rate and friction was tested. It was found that for POM-lubricant-pairings, the tribological behavior is dominated by the sorption of the lubricant into the polymer; it is not influenced by the spreading energy. For the PA46-lubricant pairings, no mass uptake by sorption was measured, and the tribological behavior is influenced by spreading and changes in hardness due to thermal aging. For mild loading in mixed lubricated conditions, friction and wear properties seem to be primarily determined by the hardness-dependence of abrasive contact and less by adhesion or hysteretic mechanisms.