Every Spring before I set sail for the year, I clean, inspect and repack my bearings. The dealer charged $50 a wheel or $200 +tx in my case, but it takes just over an hour to do it all. I have found trouble before it started. Blown seal letting water in turning grease to mush and bearings starting to go. Been riding for 11 years this way never an issue. I once had a brake issue while traveling and that taught me to carry my own spare parts as they can be hard to find on the road. I carry two sets of bearings and spare breaks and magnet among other house hold items.
breaking down on the road is no fun and I try to prevent all that work in my driveway so i can enjoy the road.
I would pull inspect replace if needed and repack all of my bearings if I were you.
Happy Trails.