To test your existing bearings:
Method 1:
1. Put bike on sidestand and have someone sit on it.
2. Pushing at the top(s) of the wheel(s), try to push the wheel sideways and release (a few times) to see if you find any play. If there is any detectable movement, they should be replaced. Honda's stock bearings were not known for long life: I replaced mine at 10,000 miles with Timken, which lasted until 55,000 miles.
Method 2:
1. Remove the wheels and install the axles, but tighten the nuts finger-tight only.
2. Hold the axle up in both hands, and spin the wheel (with your tongue?) at a slow, but steady, rate. Try to feel for roughness. If they seem bumpy or rough, replace them, because they are getting rusty inside and will fail soon. This is common on lower-mileage bikes that sit a lot.