Without hearing the noise it's difficult to say. It could be from the tires in which case it is probably a "slipped belt". It could be a wheel bearing, CV joint, universal joint or maybe even something else.
If the vehicle also rocks from side-to-side at slow speed (5 to 15 mph), it's definitely a slipped belt. If you suspect one or more of the tires, take it to your tire dealer and let them deal with it. Another possibility - if it sounds like the gears in the rear differential (pumpkin) are grinding away, there is a very good chance you simply need to change your differential oil.
It happened to me personally, or I wouldn't have believed it! Anyway, this is like a $6.00 fix, so you should try it before any other expensive fix (which your dealer will surely recommend).
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