Inner CV joint/boot replacement

[ttmedical]

Hi everyone! I recently changed my oil and when down there found my cv boots to be getting some dry rot. The car is a 2003 base tiptronic with just under 100k miles and gets driven like it was stolen hahah (no tracking though)!

My question is, can I replace the inner boot or joint while the car is on a ramp? I've read through the pelican parts article and done a forum search but can't find out if I need to remove the wheel. I know I don't need to mess with the axle bolt for only the inner CV but I'm not sure if I can do the replacement without needing to jack up the car and remove the wheel. Anyone have any pointers or experience with this?

Thanks!