A high pitch squeal when you are going in a straight line is likely the rear calipers seized which is a common problem. Sound travels under a car and I though the same the first time mine needed to be done. The bets way to check this is to apply the brakes or handbrake (gently of course) to see if the noise stops. There will be play in the wheel if the wheel bearing is on its way out and it will groan and grind. The power steering pipe seeps fluid because one of the sub frame brackets wears on it. This can cause a whining noise when you turn the wheel on lock because the power steering fluid is low. Check the fluid level to rule it out as an issue.
you cannot feel any play if its bearings as they are not taper fit......play will only be felt in the bearing when the hud nut is removed and the drive shaft removed
as AutobotVanguard says pull up hand brake then you will know if it is the front or rear for certain
As said, there will be no play in the bearings to indicate wear, unless it's so worn the wheel's about to fall off. Best way to check is to jack up the wheel and spin it as fast as you can (tricky on the front because you're turning the driveshaft, etc.) Generally a stuffed bearing will feel/sound rough and grumble a bit as it's turning.