Scary?: Rotors slightly contacting dust shields during hard corner (wheel bearings)

Probably the most common mistake people make when adjusting wheel bearings is adjusting them with grease between the rollers and the race. (that and over greasing) It is a good idea to roll the wheels and recheck, and recheck them after a short test drive. This will squirt the grease out that is holding the bearing apart. You want some pre-load on the bearings. Wheel bearings are not too critical but some equipment will actually call for measuring the preload with a torque wrench (rolling resistance) or with a string wrapped around a shaft and connected to a fish scale, so you do not want play is what I'm getting at with bearing designed to take an axial load. I actually assemble bearings with a light oil first and count the number of turns to remove the nut, then I grease and tighten back to that same point. But that is probably a little excessive for most people.

In your case I would probably take it apart, clean the bearings and inspect them. They are probably OK. If so, reuse them, or replace if you are not sure.

I purchased a camper once and the previous owner told me he greased the bearings for me. When I got home (10 miles) I jacked it up and found I had about 1/8" of play.