If you are able to jack up each wheel in turn, slowly rotate the wheel. If it turns easily and you hear a little scuffing noise that changes as you rotate then that's probably ok, but if you get a grinding noise that continues evenly as you rotate then it's likely to be the wheel bearing.
If you've done more than about 70,000 miles then definitely get the bearing done.
As others have said it's a safety matter but also well worth doing if you're going to keep the car any length of time.
When my car got to 80k it needed one of the front ones doing but I got both front ones done together just for piece of mind. £250 for both I think. I changed the rear ones at 100k, and the car (Mazda 6) is now at 163k and running fine, so definitely worth it.
It's just one of these things that wears out eventually, but easy enough to replace - but do it at the first sign of noise. A previous car of mine (Vauxhall Vectra) went to 220k miles and the front bearing changed twice in that time.
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