I elected to replace the shafts, as besides seeming difficult having not done it before, it looked like a complete mess to do and that there would be grease everywhere. Two new Cardone Select shafts were about $120 delivered. Replacement was pretty straightforward with the right tools. Does not answer your question, but just offering an alternative. It looks like most everyone has trouble getting the outer joints to separate to do the outer boots only without removing the axle from the hub. Going from the inside joint seems more straightforward, but a handful, and very, very messy. Swapping the shafts is cleaner, and pretty simple.

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2003 X5 Sport w/Premium Package M54 3.0L 6cyl