1994 Nissan Pathfinder

Other Category problem
1994 Nissan Pathfinder 6 cyl Four Wheel Drive Automatic 143000 miles

I had clicking and popping start on my pathfinder while turning. Then suddenely started making a high pitched whine above 10 MPH. When coming to complete stop a loud pop as something is slipping. Transmission is fine. Noticed boots on outer joint open toward the spindle and no grease. Have the CV joints just went? Just don't want to have to tow it to a shop for them just to tell me that. For someone that has changed engines and transmissions before- is this something I could reasonably do?
January 20, 2008.

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