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Here's Racerguy's writeup on how to replace the ball joints, which includes the removal of the whell bearing assembly and lists the parts you need to do it. This would be a great time to do the ball joints too if they're starting to get worn. https://www.ford-trucks.com/forums/3...ll-joints.html
When you replace the driver's side, go ahead and break down the passenger side like you were changing the rotor for access to the ABS sensor. Remove the sensor via the allen-head screw; then put in several shots of hi-temp water resistant wheel bearing grease by using a rubber adapter on the end of the grease gun. Pump in a shot or two, then rotate bearings several times to distribute the new grease. Repeat this process until the rotation stiffens up similar to the new bearing. I have done this on mine since replacing the driver's side and it has been over 200k miles since then with no bearing issues.
It's not a 100% prevention, but it is better than doing nothing.