Hi Amy,
This sounds like it is either the brakes dragging or something making contact with a wheel or rotor. Sometimes the backing plate will get damaged or bent and make contact with the rotor and as you move it will cause a chirping noise.
I attached the procedure on how to replace them more so you can see where they are. You do not need to replace them but I would check them out and make sure none of them are making contact.
If this is not it, then we will have to hoist the vehicle and spin each tire one at a time and try to see if you can find which one it is. You may want to do this first anyway but once you find the wheel, the only real way to know if start inspecting it and then removing the wheel and tire then rotor until you find the culprit.
Let me know if you need more information and we can go from there. Thanks
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Monday, July 1st, 2019 AT 6:12 PM