To quote someone, "Changing CV boots is a job that everyone should have to do once, just so that they can appreciate how much it sucks."
It isn't terribly hard, on the scale of things, but there are a lot of steps, and it is time consuming. You have a HUGE advantage with your SOTF Rodeo, since both half-shafts are the short style, and you can remove them (yes it is possible) without dropping the entire front axle.
Having said that, you might want to try new boots. You can replace the boots without removing the CV shafts from the axle housing, which is a significant time savings. The general process is:
Remove tires, brake calipers, hub flange (including the snap ring), tie rod from spindle, abs sensor, upper ball joint (seperate it from the spindle), old inner cv boot, and then tilt the spindle out to release the cv shaft. Then both boots can be replaced.
There is a good article about it at:
http://www.4x4wire.com/isuzu/tech/CVboots/?
If you are in there, I STRONGLY recommend replacing the outer boot at the same time. No sense doing the job twice.
-Tad