Check the pad thickness and replace if too thin. In my experiences the past few years, the pads that come with new cars wear rather quickly and I had to replace them around or before the 20,000 mile mark (had to replace the rotors one time, the pads literally fell apart when they were only 50% worn and deep grooved the rotors). And rotors (and rear drums if equipped) rust rather quickly nowadays and the rust usually gets worn off and the noise stops after you drive for a few miles.
Personally, I would change the pads now just for peace of mind. Cheaper to replace the pads than pads and rotors. Ceramics is an excellent choice for replacement pads and you also have Kevlar, metallic, and standard pads to choose from.
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2002 Almond Pearl Limited Edition 27K
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