You must remove the wheel. There are basically two ways to tell if the bearing is developing problems ie. less than perfectly smooth surfaces. 1) is by feel - You insert your finger into the bearing and turn it to try and feel any points of friction in the rotation. 2) is by sound - Mechanics have stethoscopes with a metal probe on the end. You touch the metal probe to the bearing as you turn it. Any rough surfaces on the bearing surface will make a noise when the bearing is being turned. Basically, a bearing is a housing for multiple steel balls. If any of those steel balls have less than a perfectly smooth surface, the bearing is on it's way to failure. I believe there is a bearing on each side of the rear wheel and a bearing for the rear sprocket. I think, but am not sure without consulting the shop manual, that it is the sprocket bearing that BRP has on the maintenance list to replace periodically. I found one of my rear wheel bearings needed replacement at my 12k miles service. My dealer did not agree, feeling the roughness that I felt and heard was too minor to warrant replacement. I had already replaced the bearing myself, but was hoping for a replacement under warranty.