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The CV joint boots in a 6-speed (recall the OP has an S model) fail earlier than those on a TIP or 5-speed due to the differing angles associated with the transmissions and the half shafts and the additional stress on the boots.
Do you have to do them at the same time...no. But sure would be easier to get to them once the transmission is out of the car.
Figuring out what preventative maintenance to do and when is an imprecise thing. I've both over and under maintained in my time.
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