Scan it. Why has nobody said to scan it yet? Don't just throw money at it. Sure, you can go ahead and replace all four bearings. But what if your EBCM is bad? Different problem with the same symptoms.
Hubs/sensors are usually what go first.
The EBCM actually gets toasted by voltage fluctuations IIRC. It can happen at any time. 30,000 miles, 150,000 miles, never know. GP I did the EBCM rebuild on was somewhere around 105,000 miles with factory hubs still functioning.