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The CV joint boot on the front left of the E53 BMW X5 is notorious for premature failure - quite often it is found to have failed whilst the other 3 corners are near pristine! When the boot tears, grease inside the joint can escape allowing dirt and grit in. When this happens, failure of the joint is just a matter of time. Before total failure, the giveaways will be clunks over bumps, or possibly a constant clicking sound when moving, particularly when turning. If you catch the boot failure early enough then it's possible just to replace the boot itself, but as you'll see below the labor process to replace just the boot is virtually the same as replacing the entire shaft. If you have any doubt that grit may have got into the joint then a full shaft replacement may be a better idea than just a new boot.
Oh, the noise! Oh, the Noise! Noise! Noise! Noise!