I did mine this weekend (certainly took me more then 30 minutes each). Couldn't get neither of the axles out of the CV joints (tried prying, but was afraid to hammer too much), so I followed the method outlined by Dville and pulled the inner boots. I figured my inner boots were in a good shape, so I just reused them, but got new clamps from Napa (they were less then $10 for four clamps).

In order to pull the 3-bearing unit I used a little gear puller and it worked like a champ. In order to hammer it back take a large socket (I used 24mm) and use it as an adapter to hammer on the bearing assembly, so you are not hitting on your actual bearings, but on the actual shaft.

Please note, as you repack the inner bearings (3-bearing unit) - they are using a different grease (some cheapo replacement boots like EMPI includes the same CV grease, DO NOT use it). These bearings require a thinner lithium grease (Coastal brand at the parts store is about $3.50), and that is the one you need to use.

I also hard times torquing the control arm to 100 Nm once the car was on the ground - there's just not enough space and I couldn't get to 100 Nm with a little torque wrench. So I did what I could, then drove a car on the ramps and finished with a larger torque wrench to make sure it is torqued properly.

Finally, the OEM boots are made by GKN Loebro... no need to pay a huge premium at the dealer (like I did) - you can get the same GKN boots for $13 at Pelicanparts (vs. $75 at the dealer) and get the same quality boot. I would stay away from the cheaper EMPI brand though as they don't seem to fit well and seem to use a lower quality material.