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2003 R53 Liquid Yellow and 2012 R58 Coupe Cosmos black
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I have just replaced the inner CV boot on the drivers (right hand) side of my R53. I removed the driveshaft to do it, It isn't a big job and over all from start to finish it took just under an hour. The alternative is using a stretch boot but from experience it isnt any easier.
I would remove the shaft and replace both boots for the sake of an extra £12 or so.

Gerry
 
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