Yes - I would take it to a front end shop first. I attached the only pic I could find of the boot they are talking about. The boots are full of grease and you would could see the tear for yourself. The grease would sling and be stuck to the bottom of the car and other components so it may not drop on the drive way. The boots need to be changed as they need to grease to move around and those are your axles and move fast.
The shop may be able to tell you if they see the transmission leak as well, if not, then take to a couple of trusting transmission shops. You have time for both. Check with the better business bureau for good places to take you car and also check with friends. The car is about 6 years old so it about time for things to start needing repaired though it sounds like you have taken good car of it.
Hope this helps
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Friday, November 2nd, 2012 AT 8:35 PM