slight grinding sound 30-60mph

Lately I've noticed on my daily driver 83 sc that driving in a straight line between 30-60 mph. there is a slight grinding sound under the car.

Could this be that the bearings need to be lubricated. I've had the car since 75K, now it's at 102K and I havent lubricated the bearings. Does this sound like the problem?

Also, taking turns at slow speeds doesnt produce the sound.

any ideas?