You should be hearing a noise that increases with vehicle speed if you have a bad bearing. It would sound like an exteremly bad tire and would increase and decrease as you oscallate the steering wheel from side to side much as the race car drivers do on their warm up laps to clean the tires. It is normal for wheels to be hot to the touch after driving,what I would look for is something like a sticking caliper causing the brakes to slightly drag.