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I just replaced the ones on my frontbwheel during a tire change. The non abs side had a rough feeling about half way around the bearing as I spun it with my finger...about 30 bucks for a set of all ***** bearings and about 20 minutes with my modified cam bearing tool and I'm good to go. If there's any doubt at all about a bearing just replace them, its cheap insurance compared to what could happen if it goes bad while riding.
I replace wheel bearings every other set of tires. So about 25-30k miles. Wheel bearings are small and not that expensive and can ruin your day when they fail.
my front went out last fall at 31,000 miles. I plan to buy a bearing puller and change bearings each tire change. Nothing will make you pucker faster or harder when you have front bearings take a dump....
The pre 06 wheel bearings lasted a long time. The newer ones are total junk. I replace the fronts every tire change.
I replaced my '07 Buell (made late '06) wheel bearings at 4k miles, when they were knackered, with aftermarket ones, which are still fine many miles/years later. Shouldn't be necessary to replace them often.