Put a long handled screwdriver against the body of the pump with the car running, and place the other end against your ear-- this serves as a stethoscope-- if the bearings are bad, you will hear them growling and rumbling.

If it's bad, you will have to take the serpentine drive belt off, then rotate the pump pulley until you can get access to the mounting bolts from the passenger fender side. Then it is just a matter of taking off the high and low pressure lines. There are some YouTube videos on alternator replacement, and removing the power steering pump is one of the early steps in that job, so take a look at those.

Consider flushing out all the old fluid while doing this job-- if your rack goes bad you're in for major surgery!

Good luck!