Yes, and if you took it to a shop, they would charge you the labor to do it. The LABOR costs more than one axle even to replace the boot, which is why it is usually just replaced. Sealed universal joints are not serviceable, but the boots are replaceable. That doesn't mean it is the answer in every case.

I drove on one with a split boot for 10K miles too and it eventually failed. In the OP's case, they are already making noise, so replacement is the only option.

 

Ive done the innie and the outie on my 02 wrx wagon and on my inlaws 08 impreza 2.5i. Both are relatively easy jobs if you have the proper tools. Mine on my 02 was seized really bad so it was a PITA to get it out of the hub! Other than that it was pretty straight forward.

 

Who said anything about a shop? If you READ what I originally wrote I said nothing about paying a shop. The OP said he replaced the boot once, so I had assumed he was a DIY guy.

Sorry, I forgot most people on here do not do their own work.

Who told you these CV joints are not serviceable, the dealership? The OUTER CV is technically not servicable, although I have done so, but the inner CV can be fully disassembled, and has to be to access the outer boot.

Yours failed because it ran out of grease. If you identify the issue early, and it is a minor tear in the boot that does not let a lot of contaminants in, or grease out, it is usually salvageable. Of course you would want to inspecting the bearings while it is apart. It is likely the OP did not add enough grease when he swapped on a new boot, or did not fully clean the assembly prior to re-installation allowing contaminants damaged the bearings.