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they don't have to change both, but keep in mind that if one is worn out, that the other has just as many miles and is likely worn out also. Since it's the boot that went bad the reason for the CV going bad is that the grease was thrown out through the crack, not because it's worn, so you could probably get by having just the one changed. I'd say you're looking at 100-150 bucks parts and labor to have the one changed.
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