The advise you are getting on this thread is all good advise, but to add my experience on a my boat trailer should be a routine you should always practice. I was pulling my 5ver and my wife was pulling the boat when she complained of brake smell and I discounted this to the fact we started out just below Cajon pass and I figured it was a semi with hot brakes. Well, I still have never heard the end of the fact that I ignored her, it turned out the wheel cylinder on the front passenger side of the boat trailer had locked up and the brake heated things up pretty good. Just as a precaution, the next rest stop we pulled into and I went around all of the wheels on both the 5ver and boat when I discovered the problem on the boat, and performed emergency surgery on that spindle, luckily it was OK and still made the trip. Even though the bearings weren't packed as well as could be it pulled fine until I got home and went through all bearings and brakes.
The boat trailer has always had issues with the brakes until I removed the quick disconnect at the tongue and converted it to a permanent connection (Trailrite trailers still deny that caused it). I was getting air in the lines every time I used the quick disconnect and it cost me lots of money over the years going through my brakes for one reason or another.
Too get back to the thread, you should always feel the hubs or rims when you stop anywhere and they should always feel to be the same in temperature. If you use a inferred gun, keep in mind it will not be a precise temperature but you will detect the difference in the others, same as feeling them, so if you want to save some money just by touching them will be the same. I have practiced this ever since I have worked on my own equipment.
When you torque the hub nut to 30 lb/ft turn the wheel to seat the bearings and then back the nut off 1/2 turn and check for play, there should be no play, and they spin freely, make sure your brakes are not touching during this procedure, if you need to tighten or loosen slightly to eliminate the play that is OK.