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Yes, you definitely need to have the bearings replaced but that might not be the source of the noise your describing. What you're describing sounds like you have a hole in your exhaust before the muffler.
I've seen a lot of these cars with bad coils. Try swapping around the 6th coil, to a different cylinder, to see if the misfire moves with the bad coil. That way, you can pinpoint if that coil is indeed bad.
Try replacing the engine temp sensor. Temp sensor is telling ECU the engine is hot when its is actually cold. After the 6th attempt there is enough fuel in the cylinders to create a ritch mixture, then it goes.