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Wheel bearing on 1991 Mercedes-Benz 300TE

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Just bought a 300TE and it is a great car but I have replaced the motor mounts, radio, antenna and headlight doors. Had to tow the vehicle 200 miles after a wheel bearing broke. Would it be a good idea to replace both of them while the car is on the lift? It is the rear passenger side that went out. By replacing both, perhaps I will not experience another bearing breakdown away from home.
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Yep. I travel alone with my dog and want the auto to be reliable but I understand your point. Thank you.