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Bad bearings can usually be "heard" as a roaring noise.On the front, jack up the wheel maybe a foot high - grab the top and bottom of the wheel and push and pull it in and out. A lot of movement can indicate bad or loose bearings.If vehicle has high mileage I'd replace them.Rear is a little harder to determine - the bearings are on the axles.Sometimes an oil leak from the "inside" can be a failed bearing which has damged the axle seal.
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