Did the boot go completely dry? From inspection could any contamenents have gotten in the crack?
Obviously if the tear was small and there is still plenty of greese and you are very sure nothing got back in there then you can replace the boot alone.
Just did mind last month together with timing belt replacement.
I replaced all four drive shaft booth (cover) 2 on each rear. I was told that if I don't do this due to tearing of all booth the wheel bearing would be damage (leaking of grease out). The booth parts with lubricants and some metal tightener cost around $400 (excluding service).
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