I got the starter off & discovered that the inner cv boot is torn. Is there any way to check the condition of the joint with the car not running? It seeems like I would be better off replacing it now if nessisary.

and see if it sticks anywhere in its range of movement. If not, lube it up and put it back on the car!
HTH

Inner CVs don't flex as much as the outers.

So 'probably' ok to just redo the boot. You'll know if it's bad once you clean it all up..

Besides, if it IS bad, you'd have to take the driveshaft out anyway, so no further behind doing that fun job..