WARNING: This page is about a different car, the 2003 Nissan Altima and 2002 Nissan Altima. However, it is still accessible from the selected car via links, so may be relevant.
Check for bearing damage and rough rotation. If necessary, replace with a new one.
CAUTION:
When replacing tapered roller bearing, replace outer and inner races as a set.
Fig 1: Checking For Bearing Damage And Rough Rotation