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If it was my car, I'd just replace the axle. When the boots tear, they let dirst and water into the joint and that just turns the grease (what doesn't fling out) into an abrasive grinding paste.
It's unlikely you caught the tear quickly enough to prevent this from happening, so the damage is pretty much done. Just getthe axles replaced.
I actually did catch a rear axle boot very quickly, and I did just replace the boot. It's been fine since I did that in early 2000.
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