it all depends on your driving; brakes could last 10,000 miles, or brakes could last 60,000 miles. how long have they been squealing? if they squeal when you brake, that's one thing (heat, friction, glazed, rock stuck in between pad and rotor, etc). but when they squeal while driving that means the pad has worn down and the indicator is physically grinding against the rotor. given enough time it would groove the rotor. did your brake pad wear indicator light come on? that might be one angle to play if you're trying to get a brake job covered under warranty.

FWIW, if you bought pads and rotors and did them yourself, the job would probably cost you half.

good luck --