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I replaced my bearings at 95k miles. While they tested OK (i.e. couldn't wiggle them in any direction, didn't make noise), the car rattled over rough road and was easily unsettled. I half expected this to be a situation of "threw parts at the car without proper diagnosis, problem remains unsolved" but it was night and day difference.
My personal recommendation for heavy autox/track use is to replace on the same interval you replace your lugs/studs. You practically have the hubs out at that point, it's very little extra work to change.
If you're not noticing any bad behavior, sure, it's fine to skip.
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