A bad hub can certainly cause vibration felt in the peddles, the seat, and even up thru the steering wheel too. Have you tried jacking the Exp up so the front tire is off the ground, gripping the wheel at 6 and 12 o'clock, and shaking it back and forth yet? If it has play in it then the hub is likely beat. Do it to both sides. If it doesn't then it's something else in the suspension. Worn hubs happen more regularly on vehicles with large rims and tires more so than on smaller equipped vehicles. This happened to a lot of guys with Jeeps running what are considered oversized tires. This is how I've always checked for worn hubs. I'm coming from a Wrangler on 35 MT's... My Sport came with the equivilent of 30" tires so they are big tires/wheels for a vehicle.
OP, do what I advised above in regards how to check the hubs. It will take you 15 minutes at the most and you won't be wasting your time asking the Dealer to check them out. Just make sure it's in park, on a level surface, rear wheel chocked, and use a sturdy floor jack. You can borrow one from Advanced Auto if you don't have one. I'm assuming you do because you said that you were thinking about changing out the hubs anyway yourself. Just jack it up enough to get a good grip at 6 & 12 o'clock to give it a good yank. I like to use my 6 ton jack stands as well for extra support when using a jack. Either way, you know how the old saying goes: "If you want something done right; you have to do it your d@mned self!"