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On mine I removed the old boots, cleaned out the old grease and replaced with Redline High Temp CV-2 grease, at around 125,000'ish total miles. The boots were old but not cracked, but I did it because I was overheating the grease on track and it was coming out the axle vent hole. The Redline grease solved it.
I wondered the same thing, how to tell if the joint was still good, and the way I tested it was to hold the axle in one had, and the joint in the other had, and twist the joint to move the axle. If the axle moves right away, and there is no clicking/play from when you rotate the joint and when you feel the force in the axle, then I believe you are all good. I tried this throughout a couple of positions of CV joint extension with relation to the axle.
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