Most shops will pull and replace the half shaft also because it typically has a fair amount of wear (so they say..) by the time the CV boot looks 'wet' but is not torn.
The dealer told us the one on the passenger side of our 03 CRV is in that condition (which I verified) 4 years ago. It still looks the same today and there are still no drops on the garage floor. They gave us a quote of $269 to replace it included an alignment.
A local mechanic $200. I imagine for a Ridgeline the cost would be at least 20% more.
It is not really that hard to replace yourself, if you have (or rent) the tools.