There are several way to remove and replace the CV joint axle boot.

You can remove the axle off the car and replace the boot on the bench.

You can pull the cv joint off the upright and use a special tool to pull the cv joint off the axle and then replace the boot.

https://www.youtube.com/watch?v=vOh43Wkmqnc

You can separate the axle from the inner joint and remove the tripod joint from the axle and then replace the axle boot.

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