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Typically front wheel bearings get repacked when the brake rotors are resurfaced or replaced. The previous owner on my truck had them done at 140K and it's now got 190K. A quick check would be to put the front end up on stands and rock the wheel as shown in the FSM, looking for excessive play. A burning wheel bearing would be unusual and would fail quickly. More likely would be a stuck caliper if the burning smell is coming from the wheel area. Touch both front wheels after a highway drive to find out if one is much hotter than the other.

It wouldn't hurt to repack the bearings. Plenty of youtube videos out there. How to pack the bearing .
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