My new to me '02 Vitara came to me with a sloppy front end that is due at least in part to loose hub bearings. 

Upon teardown, I found the hub nut on the passenger side to be less than finger tight...the lock ring was moving as I was pulling the philips screws out.  I haven't pulled the driver's side apart yet to see if it's the same problem. 

Knowing that these are the crush style unit bearings, I wonder if someone before me put them together like an old style tapered bearing not knowing they need high torque, or perhaps didn't have the proper socket.

The bearings feel smooth, though there is obvious play even with the hub off the truck.  Can I perhaps just torque them now and give it a shot to get a few more miles out of them, or is doing that basically just begging for epic failure later?

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Your scenario is definitely a possibility. Also check to make sure the c-clip on the back is still in it's race. I've had trouble with the hubs stretching themselves and then the hub will begin to slide off of the bearing even while tight! This most like is not your problem, though...

Good luck.

-Eric