Here is a video I took of the noise and explaining some things:
I know the trunk light comes on intermittently, I have to look into that as well. It's completely shut.
Info:
2002 Pontiac Grand Prix GT with the 3800. 109,000 miles. No past service to the wheel bearings/steering system that I know of.
I'm thinking it's the wheel bearing, more than anything else I considered. More input is appreciated.
I find it annoying when people don't provide much info about a problem, so I hope this is full of detail.