Can you drive the vehicle with having a front inner axle boot torn ?

You can for a short time but the longer you let it go the more contaminants will enter the boot and do damage to the internal parts. Today the cost of half shafts is so inexpensive for a DIYer it doesnt pay to replace the boot because its a greasy mess to do. You can find remanufactured half shafts for around 60 dollars on ebay or you discount parts stores. Just be sure you are able to do the work to remove the old one which requires taking off the axle nut, and lower ball joint, along with brakes and calipers.