Drop the exhaust, it takes 15min maximum
Replace the rusted bolts, it costs only few $$ with new gaskets.
I did both inner and outer cv boots on mine (though a base 2.7, not a S), on a lift it took me about 3hrs (taking my time to clean the cv joints well and regrease everything, while showing the job to my classmates).
Get yourself a set of long hex bits, and long hex bit with ball ends, it will save you some cursing to put the inner cv joints back (don't torque the bolts with the ball end!).
Good luck
