I changed out all 4 boots on a Rodeo (not sure if it is the same front suspension set up or not) in just over 1.5 hours. I never pulled the inner CV joints out of the diff, as they were giving me some grief. So I left them in, just removing the outer half of the inner joint, shaft, and outer joint. This made it a little more difficult to clean and reassemble the inner joint, but it seemed easier than fighting with them.
The girl who owned to Rodeo was quoted $900 to change all 4 boots....that is $600 per hour for labor (based on how long it took me)! I certainly don't think it was *THAT* difficult of a job. Parts cost me just over $50 at the local Car Quest.