If your hubs are going, you should be able to hear them as you load them up going around a corner. If they are really bad, then you will hear them going straight. Worth a shot of grease in the sensor hole to see if the noise goes away. Certainly would beat trying to take them off, if they are rusted on. Mine were making noise by 140k. Found some Timken hubs for ~$200 each on the net.
I had a tie rod outer end fail at 140k, don't know if the previous owner had greased them every 3k or not. They are easy to replace, if you have a good puller. ~$35 each.
Since I'm going to replace the hubs and the ball joints are sloppy, I waited until the Carli lowers came out, the uppers and lowers arrived last week. Pricey at ~ $800 for a set of upper and lowers for both wheels, but super quality, vs. ~$70 each for generic ball joints that will fail again, or worse that they are notchy, as others have reported after installing Moog ball joints.
While I'm in that deep, the front axle u-joints on my 4x4 are going to be replaced as well. ~$60 each for Neapco (for comparison ~$80 each for Spicer and Precision were ~$40 ea).
I've been spraying everything with penetrating oil for a week now, so it remains to be seen whether the rotors and hubs will come right off or be the pain that others have reported in this forum.
For $1,900 you get regular parts and the dealer has to potentially deal with getting a rusted rotor off, as well as a rusted hub. Then some time in the future you will have to pay them to do it again, to do the front axle u-joints.
Alternately, you could get some high quality parts and buy yourself some nice tools for less than than amount, if you did it yourself. Even if you went with cheap parts and rented the tools, at least you could coat everything with a good anti-seize, so it would be easier next time.