according to my mechanic ( and he also promotes the idea of replacing both FRONTS at the same time when you have to do one of them ), the rear does not necessarily call for the same "symmetry" treatment, if the other bearing is tight and quiet.
I was surprised to hear that since the axle and all that other crap has to be disconnected and given the part itself is cheap, I'd think it may save a lot of time and labor in the future by doing that now, but I guess it follows the similar principle guiding opposing opinions on replacing a perfectly functional water pump when you do the belts** .. He says doing one rear bearing is 4 hrs, doing two is 7 hrs, so I'm risking only hour of labor ( $ 90 ) when and IF the other one might go bad.. One of those flip a coin situations I guess.. I'll take a chance and just replace the bad one.
** btw, I had plenty of belts changed on the 944 in 17 years and one change in the 968 two years ago, and left the water pumps alone - never had a problem !