I have a 94 gc 3.3l. I noticed I have a torn boot on the driver side cv axle. How hard is it to replace? Should I replace both axles, or just the one for now? Once I get the axle ready to come out, will it come out of the transaxle with a good firm tug? Do you think I should put new seals in too? Thanks.

It depends how you define hard.
I changed one once, never again.
Why? Having the proper tools would have made it 200% easier to do.
A nice tool to have would be a car lift.