I am so paranoid about wheel bearings. I really don't wanna be that guy we've all seen in wandering around in the ditch in the mid-summer heat trying to find the missing wheel that flew off somewhere. Wife in the truck giving him the stink eye as she waits for the tow truck to arrive.
One pump of grease after each dunk, change bearings every 2 years regardless. On longer trips I carry an IR heat gun, check bearing temps at every stop and chalk the temp on the fender with a piece of soapstone so I can compare with next reading.