Always a good idea to lube the u-joints a couple times a year. Any more and I just spend a stupid amount of time wiping grease off everything in the engine bay.
Checking the wheel bearings is also a good idea once or twice a year. USUALLY you can tell of impending issues by doing a slop test. Jack the car off the ground and firmly grab each wheel and ensure there is no side-to-side, up-down or in-out play when pulling/pushing etc.
Sometimes things will go fast and without warning, but in my experience, bearings usually start grinding and howling well enough in advance to at least stop the car safely, if not drive home or to a shop.
Mark
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