Just did mine in the spring, and my wifes shortly after that.
I also repacked the joints. Both drive almost like new. The Haynes manual has a good write up on the procedure. I would recommend using some PB Blaster a day ahead of time to help loosen the bolts (3 ea on the steering knuckle assembly).
Boots - $13 ea
Extra grease -$5
Clamp tool - $11
On my ZJ I spent about 4 hours. My wifes WJ was about 2 hours. (learning curve)
Have alot of rags and some degreaser to clean the joint bearings and races.
If loving the Buckeyes is wrong....I don't want to be right.
Mine: 95 ZJ 5.2 Quadratrac Char Gold Laredo, Tow Package, K&N FIPK, Kolak Mopar ECU, CatSound, AT50 Muffler, 2" TeraFlex BB, Bilstein 5100's, 265/70-15 110S Dueler AT Revo's. It's a start..more to come
Wifes: 99 WJ 4.0 Laredo pretty much stock....for now.
Mine: 06 KJ Renegade