Thank you everyone for the replies and insight. I have since figured out what the problem was by doing some more testing.
I replaced the wheel bearing thinking that’s what it was. After that didn’t fix the problem I was able to isolate it more. The noise I was hearing ended up being the heat shield by the catalytic converter rubbing on the driveshaft. The shield must have been very close to the shaft and after it was heated up it expanded just enough to rub on the driveshaft. A quick bend and it was fixed. I can rest easy now. haha.