First, I don't recommend replacing the boot unless you know exactly when it split (such as off roading yesterday) Dirt gets into the joint and even if cleaned they become unreliable. (You can get a remanufactured complete axle assembly or a scrapyard unit at reasonable cost.
Removal begins with the nut on the axle end. (very tight at about 175 foot lbs). Once that is free, remove the brake claiper and rotor. Next, remove the three twelve point bolts behind the bearing hub.
(I use a sacrificial socket and run the bolts out about half an inch and use a hammer to drive them back in to break the hub free) Once the hub is out, you can pull the axle out of the differential right through the hub opening.
Install is the reverse of removal BUT support the axle when putting it back in as there is a seal deep inside the axle tube next to the gear set. If you drag the axle end, you can knock it out and diff lube will begin to leak from the open end of the tube when you drive.
One tip: when doing these, I generally disconnect the tie rod end from the steering knuckle. It makes it easier to work as then you can turn the assembly from side to side to get at the hub bolts.
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