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I did the inners and the outers no problem on my S. Take the Inner CV joint off, it's held on by a circlip. clean the axle off thoroughly, slide the outer boot all the way off over the axle, clean the grease out while it is still attached, then add new grease, slide the new boot all the way over the axle, then slide the boot for the inner, reinstall the inner CV joint (it's good to use new circlips) and re-attach to the transmission. I did all 4 boots on both sides in about 2 hrs...while I was home with the flu.
It is pretty much as easy as you described.
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