Since this is one of the best 'rear wheel bearing' threads, I thought I would update with my experience. I had exactly this code and these symptoms, and use my X431 Launch to determine it was the right rear bearing. I bought a new one from Superformance for the usual huge cost.
WARNING - this is a lot of work for DIY, and grim if you don't have a lift. I wish I'd paid someone, but I've done it now.
You have to take apart basically the whole suspension on the side you are working on to get the axle out (almost impossible in situ). To do this, as others have said you have to drop the subframe down (loosen all 6 bolts, 10mm and 12mm hex) maybe 10-20mm to remove one of the bolts on the upper arm as it fouls on the body - ridiculous design but there we are.
If your car has been left outside/used in winter the bearing will be an absolute ******* to get off the shaft. I borrowed a very fancy hydraulic puller for this and even that took multiple attempts, trying other methods, heating it up etc, until it eventually gave in. Be careful hitting things (especially things with threads on the end) directly with a lump hammer.
I'm not sure what the book time is for a garage to do this would be (but even then they could spend a day getting a rusty hub off) but I think it must've taken me 20+ hours.