Well, I have not replaced them but I have dropped my engine many times and it appeared to be pretty straight forward.
Per side:
6 Hex/Allen Bolts, Axle Nut, drop, install in reverse order, A 1/2 Drive Torque Wrench to get the proper torque on that Axle nut would help allot.
As far as boot replacement:
If you just noticed the torn boot, clean repack and replace the boot and clamps, I have done this
