Yes. Jack up and support the body on stands. Remove the wheel.
Clean out the socket head thoroughly and get the right size (8mm?) Allen key on a socket drive with a long extension bar. Release all six bolts and withdraw them, keep the nuts and lock plates safe although you may want to replace the nuts. The shaft should drop which will allow you to wipe the grease off to expose the circlip. Remove this with circlip pliers and the inner CV joint should slide off the shaft. Remove the boot and clean the end of the shaft properly. Fit a new boot onto the shaft. Clean the CV joint of all old grease, check the races and repack with fresh grease. Refit your the shaft and reassemble. Note that the joint will have a groove in one end of the outer surface. Make sure it’s put back in the same orientation. It’s messy dirty work under the car but it can be done without removing the shaft. If the outer boot is worn this can also be replaced at the same time but make sure the entire shaft is clean.
Guy
Guy