Messy job, can do mine in about an hour, did one a couple of months ago on one of my spares. Once you do it it's a piece of cake the next time around. I only change boots on my spares though, it's easier just to swap out the whole unit to minimize down time.
Both boots: Part# 04438-04021 ~$32 (comes with 4 clamps, 2 packets of grease, new c-clips)
Just inboard boot: Part# 04438-04011 ~$22
I got all the tools you need if you need them, I'd even do the work for ya if you were down this way! You'll need snap ring pliers for the c-clips, ear type cv clamp pliers for some of the clamps and earless type clamp pliers for the other clamps. Don't ask me why Toyota chose to do both!
Edit: And oh yeah, don't let the tulip bearings fall off, it's a b*tch to get those needles back in, ask me how I know!!!