Our also makes a humming noise when you reach 55 mph. Goes away when you reach 57 or so. It does it even when in neutral, or if I take my foot of the gas. So for me, it might be the tires, which I know are wearing somewhat unevenly even though we rotate every 5k miles. Seems also a bit worse since I inflated the tires for the winter.
A bearing noise would not go away, and in any case it would be a high pitch whine, and the pitch would change with speed. Here's what I would try:
(1) Try slapping the car into neutral and see if the issue still persists, might just be a driveline issue.
(2) Try manually changing gears to see if the issue goes away or not. Some cars seem to have this sort of harmonic vibration in certain gears, sometimes prevalent when going up hills. Don't ask me why, but I know my father's Sienna does it.
(3) Play with your tire pressure and see if the vibration starts occuring at different speeds.
This issue has popped up on the forum before, search "humming" and you'll see. It appears there are no definite answers, but lots of theories.