Front wheel bearings on our cars are maintenance items. They're supposed to be removed, cleaned, greased and reinstalled (and tightened with a proper pre-load). Once they're worn, this won't cure them and you'll still have play even after setting proper pre-load. The rears are not serviceable - once they're worn, you have to replace them, which involves pressing the old ones out from the hub.
Put one corner up at a time and spin the wheel. Listen for noise, check for play. Compare to the others. I left some things out since I hope you have the FSM and will read up on it (FSM in my sig.).
Could be something else but from what you said (increasing noise, while turning goes away, etc.) I'd first check the wheel bearings. After that, I'd check tires, steering linkages, balljoints, etc. This is a dangerous area to screw around with or let things wear out, so if you're not confident at any time, take it to a good pro, IMHO. GL.