You don't have to remove the shafts, just undo them at the hub ends and slide the boots off, the new ones slide back on, there is a tab on the retaining ring that must be in the right place, do up your 4 bolts, put the rest back together. You might find it easier to remove the starter, I did, needed to clean the contacts on it anyway. Only a five minute job removing or replacing the starter anyway.
Replace the split ring and little spring at the end of your drive shafts, you may as well do the rubber boot at that end as well when you are at it. Also a good time to grease your wheel bearings.
Marc
I did mine in situ with the wheel jack.