Grinding noise is metal to metal and more than likely the pads and rotors need to be changed at this point.
Here are a couple guides that will help with this:
https://www.2carpros.com/articles/vehicle-grinding-noise
https://www.2carpros.com/articles/how-to-replace-front-brake-pads-and-rotors-fwd
As for how often you should change them, this is not a set interval. It all depends on performance and brake pad thickness. You need to have them inspect and measured each time you rotate the tires every 6,000 miles.
If you keep this measurement accurate then you will not be surprised by them grinding.
I attached the info below on how to replace them from the manual. Please run through this and let us know if you have other questions. Thanks
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Wednesday, October 6th, 2021 AT 5:16 PM