Sure you can replace both cv joint assy's but the boots will only tear again in a matter of months. The rubber that is used for the cv joints is very poor and along with the abuse they take with turning and road debris they will not last long. I recommend just replacing the boot with universal boots that are easily found at any auto store. I have a 94 Villager with 150000 miles and have had to replace the boots numerous times. Don't go thru all the hassle of replacing the assy's.