You should be able to hold your hand on the side wall of your tires. If you have to remove your hand you have a hot tire. Tires get hot from under inflation or broken core. In the summer, while traveling out west, I have seen the sunny side about 5 degrees hotter than the shaded side due to the sun.
A hot tire deserves attention ASAP.
If you want to check the hubs I find it best to coast into a rest area, after 25 or more miles of non breaking travel, and using as little breaking as possible. Breaking will heat the break drum and give you a false reading. After stopping attempt to feel the hub or as close to the hub on the wheel as you can get to. They should not be hot to the touch.
Hubs will get hot from the bearings being to tight or damaged.
If when you stop you smell anything in the wheel area you have a problem.
Last year and with the temperature at about 32 degrees I felt a warm tire. When I moved my hand around the tread had a scalloped feeling. I stopped for lunch on my way to a shop to have it changed. The mechanic came out and said which tire did you want changed because the one i showed him looked fine and the one in front of it looked warn. I said no the one that looks fine that was the hot one. The cores were broken and only showed up while the tire was warm.
WBCCI 12156 AIR 3144 WACHUNG TAC NJ6
2004 Excursion 4x4
1991 34 ft. Excella +220,000 miles, new laminated flooring, new upholstery, new 3200 lbs axles