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That is normal the fronts are always hotter mostly because there is more weight on them. Drivers front if there is just the driver in the car. Measure inside middle and outside and try and do it right after driving the car.Tires will be warmer on the inside by about 10*-15*F more than the outside of the tire on a street alignment. If they are hotter on the outside or middle, or the outside is as hot as the inside that means there is an alignment or tire pressure issue.
If you see a pyrometer or an infrared thermometer (harbor freight) for cheap pick one up. They can be a useful tool.
If your tires are wearing as normal (I would still drive around and check the temps) you can take tie rods and wheel bearings off of the list IMO but here are some common issues.
Like the other guys said tie rods, ball joints, wheel bearings, bent wheels, motor mounts, loose lug nuts, that rubber thing on the CV shafts
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