If you're paying a shop to change them, change just one, there is no discount for changing more then one, ie if 1 bearing change costs 500$ to replace (seattle prices) two bearings will be 1000$
If you're changing them youself, might as well change both, bearing is cheap and after you've done it once, second bearing is a lot easier.. plus you'll have to do an alignment if you're doing rears so might as well get it all done.
Thanks
Sasha
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