After being under the car this weekend, I can only say this applies to my 3.0R:
Who the !@#$ though this would be a good idea without removing the half shaft? Heh. Really, the outers were both fine, it was both inners (not 1) that were leaking a little. No tears. I left the shafts in place, which meant working between the cats with little room to do the work. I could not re-band the boot, but I used a really good tie wrap (very wide and strong. It should hold until I can figure out the next move.
So I am pondering ordering two new boot kits and rebuilding or getting two new half shafts. Hmmm.... Is the aggravation worth the $50-100 saved? And if the half shaft does not fit then what? I must mail order (2 weeks), then if it does not work, pay to ship it back. Damn. These Germans are just so expensive for parts/service.