Same procedure as changing boots. Just did both sides on my Rodeo (slightly more difficult then on a VX) and took way longer then normal. Usually I can do boots in 1.5-2 hrs per side in a parking lot.

On a VX you pretty much just pull the brake caliper, pop the snap ring on the end and unbolt the lower ball joint from the control arm, pop the larger inner boot clamp, pop out the retaining clip and thats it.