Did it come off because the lug nuts broke off or came loose, or did the hub bearing come apart and cause the wheel, rotor, and brake caliper to come off? If the just the lug nuts just came off and the threads are still ok and there is no damage to the wheel holes put the tire back on with one lug nut from each of the other tires, or use your spare if there is wheel damage. If the wheel studs are damaged and you can get new ones, have them replaced. If the hub brng came apart and the axle (4x4) is ok the brng assembly will need along with all damaged parts. This is a common problem with dodge pu.
SOURCE: 2000 toyota echo, wheel bearings
I found this site to be very helpful with this job: http://www.toyotanation.com/forum/showthread.php?s=714b28cb1c3f77f992209de0bdbfbd13&p=2481776#post2481776
SOURCE: wheel bearing replacement left front
Diagnosing the bearings can be tricky depending on severity of wear. Typically - drone noise at highway speeds, squeeling, clicking or grinding noises at low speeds that reduce during braking, or pull off the wheel and brake assembly and check the bearing for slack or smoothness of rotation by hand. While doing this, check the brake assembly thoroughly - generally a more likely culprit of wheel noise.
Wheel bearing replacement is not for the novice backyard mech. - you will need pullers, press, etc. If you can get a rebuilt assembly - much easier.
SOURCE: replacing front struts on a 2007 toyota tacoma
REALLY HARD PROJECT, TAKE IT TO SEARS, IT WILL ALSO NEED FRONT ALLIGNMENT
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