It depends what is wrong with the bearing. It would determine which corner of the car the noise is coming from. To test the bearing for play, jack it up, hold the tyre at top and bottom and try to rock it backwards and forwards, rotate the wheel through 90 degs and grab top and bottom again and try to rock the wheel backwards and forwards again, if there is movement it's likely to be a worn bearing but could also be movement in another part of the suspension / steering. If there is no movement in trying to rock the wheel but the noise is coming from that wheel, it's likely to be the inner shaft bearing. Which ever side bearing is making the noise, get the opposite side done at the same time, sods law is if just one side is done the other will need replacing a few months down the line and mean another visit to the garage.