I have done mine. It's not hard and if you have not driven in any water or mud, chances are the CV joint is OK.
Toyota sells a boot kit that has everything you need to do one side, including boots, clamps, and the two different types of grease you will need.
The service manual will tell you what type of grease goes where and how to change the boots.
I used a bucket of kerosene and swished the joints around it into clean the old grease out. It took a long time as you can't disassemble the wheel side CV joint. But I got them all cleaned out, then repacked with the new grease. No problems and cheaper then new joints. Just follow the instructions in the service manual.
