Wheel bearings typically don't get too "loose", or contribute to a loose feel in the front end. That would be more bushings/balljoints/ shocks.
When a wheelbearing starts to fail, most commonly you can hear a whine thats frequency or pitch is proportional to the speed of the vehicle. Example, high speed, high pitch whine, low speed, low pitch or even rumbling noise.
I have heard of wheelbearings getting loose, but it isn't too common. They typically get noisey. And if they are loose, they would be exceptionally noisey.
I would leave them alone, check balljoints, bushings and shocks for the culprits of the vehicle feel. You can replace them if you would like, but if you can't hear them, chances are they are probably OK.
If you are going to have the discs off and the front end pulled apart anyways, sure, why not....but I doubt if there is anything worng with them if they are not screaming at you.