Yes, you should get this ooked at ASAP. There are a number of things that it could be, some no big deal, others have nasty consequences.
1. Tires - could be a wear/alignment issue, could be running on cords. Risk of blowout
2. Alignment - Causes uneven wear on tires, noise, pulling, small steering issues
3. Ball joint - Worn ball joints are an annoyance for the most part. If you let them go too long they can pop loose, loosing steering on a side.
4. Wheel bearing - this seems the least likely cause. A bad bearing can cause a fire.