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Hi,
i've replaced the boots at my 2003 S MT. I can not imagine that you can replace the inner boots while the driveshaft is in the car. Maybe it works for a 2.5, or AT. But not for a 3.2 MT.
If you want to do it while the axle is in the car on a 3.2 MT you have to remove the catalysator. Else you definetely won't have enough room to work and get the bearing out. I think it is easier to pull the complete driveshaft. But you'll need a torque wrench and nut that can handle 460 Nm for the central axle locking nut.
Also i would allways replace both driveshaft cv boots. And another tip: Don't use cheap CV boots. There is a difference in material thickness and quality beetween Porsche OEM parts and cheap after market quality parts. So if it lasts only 30-40.000 Km this was a cheap one and i definitively would replace both.
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