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The brake pads will make a noise when they get down to the minimum spec and the noise is like what you are describing. if the rotor is well worn it will have a ridge on the outer edge that can also cause the noise you describe.
The fron calipers are of the floating type, if the pins the caliper "floats" on are corroded then the caliper will not float properly. It usually causes the pads to wear unevenly.
Pretty sure the rear stub axles are sealed bearing units, so there is not much you can do there except to replace them when you get a bearing noise, but they last a long time.
It may also be an accumulation of brake dust in the rear brakes.
A good 4 wheel inspection is your best bet. If the rears have a lot of dust and a ridge on the rear drum, you should clean and deridge the drum, and replace the shoes if necessary.
Fronts, you should remove the hydraulic portion of the caliper (leave the hose connected). Check the pads and replace as necessary, turn- replace the rotors if necessary. When you compress the caliper piston make sure it is not binding, and lubricate the pins the caliper slides on to make sure it can move easily.
regards
Mech
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