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My car is a 2013 one with almost 26,000 miles on it. If your car is a similar age I would suggest an early replacement of the boots. They are cheap and easy to replace and along with some new lubricant will probably give you another 6 years trouble free use.
Craig at M3WServices just replaced mine - all 4 - also at 7 yrs old (and a mere 8.5K miles!). Wondrous improvement on the steering! Something to add to the service checklist!
