I got my torn boot replaced yesterday at Bailey's Auto Service here in SLC, and Craig kindly let me watch and document. Posting these here while I still more-or-less remember the details, for my own and possibly others' future reference. We did both of them just to be on the safe side so some of these pix may be alternating sides depending on which ones turned out clearer.
After taking the front wheels off, he removed the fasteners to loosen the stabilizer bar. IMG_20170614_145652.jpg
Then removed the cotter pins: IMG_20170614_150022.jpgIMG_20170614_145814.jpg
He used a pneumatic tool (impact wrench?) to remove the bolts: IMG_20170614_151023.jpg
Then lifted up the steering knuckle to separate it from the top of the ball joint: IMG_20170614_151040.jpg IMG_20170614_151256.jpg
Removed the retaining ring and pulled the old boot off: IMG_20170614_152224.jpgIMG_20170614_151206.jpg
Put the new boot and ring back on: IMG_20170614_152407.jpg
Replaced the steering knuckle, bolt & cotter pin: IMG_20170614_153013.jpg
Repeated everything on the other side, then filled the new boots with grease and topped off the upper ball joints: IMG_20170614_153038_2.jpg IMG_20170614_153208.jpg
Reattached the stabilizer bar: IMG_20170614_153526.jpgIMG_20170614_153542.jpgIMG_20170614_153641.jpg
Not an incredibly difficult or time-consuming job but I don't think the tools I had at home would have been up for it, so I'm glad I went to a shop. Now I don't have to worry about my front passenger's side wheel falling off on my next road trip.