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have your brake pads checked out, often they are so close to finnished that they make a noise when not applied, as soon as you apply them they press on the last bit of padding left and the noise goes away.
from my experience its sounds like ur front rotors may need resurfaceing...if ur doing that...may as well replace the brakes on the front as well...sometimes glazed front brake pads may make a sound but never heard of it as a grind, usually its a squeal...have ur dealer check ur rotors for hot spots in which u would need them replaced if they are overheated..also check the front pads for cracked brake pad material
yes my cv axles had to be replace cause of the same thing but when you replace one side you need to do the other side at the same time cause when 1 goes bad the other is not that far behind . i know from experience
Your rear brake pads are most likely worn to the wear indicator which can make a high pitch squealing noise. It is very common that it will squeal when backing up, but not when applying the brakes. 50,000 miles is about the average life for rear brake pads on your car.
At 60,000 you should have all the major things done if you haven't already:
oil change(every 3000)
air filter change(every 15,000)
coolant flush(every 30,000)
spark plugs and wires(every 30,000)
transmission fluid & filter change(every 30,000)
brakes (as needed)
PCV valve (every 20,000)
You can wait until about 75000 miles to do your timing belt.