rumbling

So after about 20 mins of normal 50-60mph driving, my e92 330d starts to rumble as if the tyres are 20 pence shaped. On closer inspection the o/s/r wheel and brake disc is pretty dam hot, no hard braking done, all other wheels are ok.

i know my rear pads need changing. I thought at first could it be a wheel bearing but why would it start up after 20mins.

I'm now wondering if the discs are warped, but again would this become more apparent after 20mins driving???

Tyres are 4 weeks old and have correct pressures?

What are people thoughts?

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rumbling