Grinding while Driving

Hey everyone! Im in need of a little help. My gf has a 2010 Prius with a 170,000 miles on it, its a great little car, but it makes a 'grinding' noise while driving. I was thinking it might be the cv axle, but turning it doesnt seem to make the noise any worse or better. I put it up on stands today and put it in drive and it made the same noise. It gets louder as the vehicle increases speed, but doesnt seem tied to the engine (when its in neutral and you give it gas it doesnt grind). She said that it has been going on a long while, with no clear indication as to when it started. She said it was quieter at first and her ex told her he didnt hear anything, he must have been deaf cause it is very loud and you can feel it in the peddle.
Anyways, I plan on getting back underneath of it on Friday to change the tranny fluid and hopefully have a better idea of just what is actually wrong with it.
Here are two links to it:
Driver side

Passenger side

regards
Brent

 

Thank you everyone for responding! I was under it yesterday, and more than likely is the bearing. I changed the transmission fluid and did the brakes (both needed to be done). While I was under, I had her give it a little gas and the noise seemed to emanating from the passenger side wheel bearing. So next week, I’ll pull it and see a shop can pack a new bearing for me.
And I haven’t done anything with EGR, or intake manifold.

 

Again, thank you for everything! It was the bearing. I was very surprised that it was a whole unit and not the wheel and hub type. So relieved that I didn’t need to find a press!
I suppose next I need to do the EGR valve. Any guides that are better than others?