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I agree with Doug, unless you are experienced in glass replacement, let a professional do it. Definitely check with the manufacturer to see about the warranty unless you are passed your 10 year mark. Doug explained the process well.
Wear gloves and protective eyewear. The edge of glass is razor sharp and for possible glass shards, you want your eyes protected. Also, never carry glass over your head. I know this seems obvious, but the things I have seen.. It's just a reminder.
Additionally, if they are aluminum frames and are getting a lot of sun/heat, they will most likely fail and cloud up again. Replace them completely with something that doesnt absorb heat like vinyl or fiberglass and maybe have Doug's guys come out and give you an estimate. Sounds fair enough.
Affordable Replacement Window Systems
Another option, which I have not used myself, is used a lot in Houston. https://www.plylox.com/ This company sells a clip that is attached to 1/2"plywood, and you can typically get them at your local Home Depot.
From their website:
PLYLOX™ window clips are patented h-shaped carbon steel clips engineered to fit 1/2" plywood without nails, screws or adhesives. There is no longer any need to drill holes in brick in order to protect your windows from storm damage.
Just an FYI... Good luck.
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