I am a bit late to this thread but I must say Amacman is spot on!If you only need to replace cv joint boot ,there is no better method and more efficient and time saving ,than what Amacman describes in his first post!
At the dealer we dont replace cv boots ,we just replace the comple axle but if you doing it yourself or have an indy do it for you ,then do the methodn described in post #1.Like Amacman said ,you only need to remove the wheel and the bolt/nut from lower arm.Done it loads of times and works best.Even did one X5 today at home
If you are careful and pry off the old clamps ,you can even reuse them !