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The pinion bearing is a high pitch whine. Think J-79 jet engine whine The wheel bearing sound is more like a rumble, lower in frequency than the pinion bearing. If your have a lot of miles on the car you might want to put in new synchros for 1st thru 4th gears.
The very first thing I did when I bought my car was to change the belts. A belt failure results in a 5 figure engine rebuild. I have been changing my belts every 30K miles or three years whichever comes first for the 22 years that I have owned the car. Think of it as cheap insurance.
Chris Vais
1994 Coupe Midnight Blue Metallic
2015 Audi Allroad Quattro Brilliant Black
2008 Audi A5 Brilliant Black