I just had a noise, vibration, and grinding problem from ... tires. Cheap worn out Kumho tires. A low speeds around 18-22 mph They made a grinding noise that I could feel through the steering wheel - could've sworn it was wheel bearings. At higher speeds they were noisy and still made somewhat of a grinding vibration - thought maybe it was my driveshaft bearings. For six months I toiled over it never thinking it could be from tires, but it was.

I finally took my car (CLK 430) to an independent shop 3 weeks ago where a set of wheels with new tires were swapped on to my car. I drove it ... all noise gone. Since then I replaced the Kumhos with a set of Bridgestone RE050A Pole Position tires and the ride is sweet.

Anyway, tires might be something to look into, although you mention the noise goes away after a few miles, and that's odd. Are your tires about worn out? Any strange wear patterns? Also, my Kumhos would develop flat spots from sitting overnight which would work out after about 5 miles ... maybe that's it.

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2000 CLK 430
2004 BMW R1150RT
2001 Honda VFR800i