replaced the boots on the right side arm about a month ago and this was the process I used:

Removed the 36mm nut, rotor, caliper, carrier, abs sensor and disengaged the rear control arm from the hub. I used the 75.00 ebay hub removal tool to push the halfshaft out of the hub and then undid the two strut bolts that held the strut to the carrier. This allowed the hub/carrier to move(swing) out of the way and I was able to pull the halfshaft out from there.

I did not have to pull the halfshaft with the carrier off the car. Nor disengage the lower control arm, idler (steering) arm, or sway bar from the hub/carrier.

Used the Empi boots from Autohaus then took the car on a 1200 mile trip with no issues. Just waiting for the driver side to go next.