Thanks for the feedback and advice everyone. So I ordered two new wheel bearings and replaced both front hub assemblies (one of which was the one that was making the noise). Good news is, the noise is gone! Bad news is, the vibration is still there at highway speeds.
The vibration mostly feels like it's coming from the back, so I raised both rear tires, started the car, gave it gas, and watched the back wheels in the air. Looks like the vibration starts getting bad around 40 and 65 on the speedo. I removed both of the back tires to eliminate the rims, tires, or if there's a tire balancing issue. Turns out it still shook quite a bit. Both sides hopped up in down, shaking the car.
I also noticed at low speeds, the inside of the rotor looks off center, as if it was machined wrong. But, I'm no expert on rotor machining, so maybe they can be this way?
Here's a video:
https://photos.app.goo.gl/vDRzHMqzMpS1aeeS6 (set it to 1080 to get more detail)
The first part is just a recording of more shaking in the car. The second part are the rear rotors spinning at about 65mph. The third part is showing the side and inside of the rotors looking off center.
So, at this point it could be a warped/unbalanced rotor, but the shaking neither gets better or worse when I brake at highway speeds. It also could be something with my axel or rear diff. Next step is to simply put the original rotors in the back wheels one by one to see if it changes anything.
Any additional thoughts?