2002 Chevy Astro front wheel bearings and idler arms

My wife's astro is making a rumbling noise when going down the road like the tires are big nobbies. I took it to the local tire store and the mech said it was one or both of the front wheel bearings and the idler arms need to be replaced. The estimate is for $961.70 parts and labor. Of that $693.59 is for a BR930209, which I looked up on line and found a new one in a nearby town for $160.00, am I getting taken to the cleaners? Can I fix it?