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Before tearing anything apart, do a sanity check on your tires even though it is not likely one or more would be bad.
Put on some latex gloves and run your hands over the tread on each tire around the whole circumference to feel for any unevenness, small bump, etc.
I replaced front bearings on my S4 last winter and it turned out in the end to be a tire issue.
I replaced the Boxster bearings two years ago and you do not need to remove the strut/hub assemblies to do so. Youtube has a bunch of vids on wheel bearings and anything BMW related is also similar enough to be instructive.
Bearing manufacturers put minimal grease in bearings so I disassembled mine and repacked them with Redline CV.
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