This isn't on my 4Runner, but I thought my experience changing my CV boots on my 1992 Celica All-Trac would help you.

8:00 am
-Took the celica up to my parents house. Put it on jackstands and took off the tires. I realized that I needed a 30 mm Deep socket, my regular 30 mm socket was not deep enough.
8:15 am
-Got back from Ace Hardware and started taking off the axles. I had my dad step on the brakes while I loosened the axle nut and the 6 hex nuts on the inside axle.
8:45 am
-All the other bolts are off and the CV axle came out. Took it to my workbench and read my chilton manual. It said to take off the clamps on the inner boot and slide off the joint. Mine didn't slide off, I made the stupid thought of taking the joint apart. DON'T DO THIS. All the balls came out. I then got a rubber mallet and tapped the inner bearing race out.
9:30 am
-I then went to the outer CV boot. This part was easy, take the clamps off and slide the old boot out. Then get some duct tape and cover the axle splines. Slide the new boot on. Put new grease in and put boot over the joint. I didn't clamp them down yet. *note* My boots were cracked, if they are broken open, I recommend you either get a whole new axle or clean out the joint
9:45 am
- I am trying to figure out how to put the outer joint back together. I thought I had it right but it wouldn't move. Obviously wrong!! Checked the chilton manual and it didn't help.
12:00 pm
-Still trying to figure out how it goes back together, I decided to take off the other axle side and see what that looks like.
12:30 pm
-I got the left side off, and looked at the inner joint.
2:00 pm
-I finally got the joint together, its tricky!! If you push it in too far (to line it up) it will fall in and all the balls will fall out of the housings!!
3:00 pm
-I got the left side boots installed. Its a lot easier if you take the inner joint off as a unit. I lined everything up and put the boot clamps on.
3:30 pm
-I got the left side completely on the car and the suspension back together.
4:00 pm
-I thought that I should put a little extra grease in the joint that I had put back together. oops I pushed the inner joint in too far and all the balls fell into the boot again!!
4:30 pm
-Finally got it back into the car, put right side back together.
5:00 pm
Drained transmission and put in Redline MT-90 oil
5:30 pm
Took the car home. I was tired, hands were bloody and I was pissed!!

If I had replaced the axles, it would have only taken me 2 hours. I am never going to replace cv's again!! Messy, messy messy!!

 

My experience:

Ahh!!!! Torn CV boot.

Crap don't know what to do. I have no clue how to fix this......

245$ at the dealership.

Yay she's fixed!

 

That's what I should have done.
I spent $70, and a Saturday.

 

Yeah, but just think of the experience you gained by going through it!!

 

True, but I am not sure if it was worth the pain and mental anguish!

 

yea if I had an idea on how to do it, or somebody with me that knew how. Even if it would have tooken the whole weekend I would have done that instead.