Re: Bad bearing or Camber off?
All you can do is Jack up the front and check everything. Check bearings, ball joints, track bars, rods and gear. if everything is tight then it will need an alignment check. Shake at three and 9 for steering stuff, 6 and 12 checks bearings and ball joints
Just because it doesn't pull or wander doesn't mean the alignment is good. It's pretty rare for solid axle stuff to go out in camber or caster if the parts are tight. But it can happen, there's shims for it. Could also be a toe wear, and toe doesn't cause a pull, unless it's way off.
Can't be checked in you're driveway, not without a bubble gauge and those suck anyway.
Ps...Im pretty frickin awesome!