I believe to check a wheel bearing you need to jack up the truck on the suspect side and check for free play on the wheel.
I just went through this same thing on my subaru, horrible noise only made it when the car was moving, neutral in gear it did not matter. Making turns was worse as it put more stress on the bearing, that metal to metal sound
I took my car to a local mechanic and had them look at it, once they got to the bearing it turned out that it needed grease!!
I dont know about driving it till something bad happens as it may cause damage to the hub.
I would call some local shops that you can trust, could save you $$$'s
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2006 White DC 4x4 sr5
King coilovers|TC Diff Drop|Bilstein 5100's|Pro Comp 1069 16x8|Toyo Open Country 285/75/16
Officially decided that an 08 CM 4x4 will be in order.