Chirping sound

Actually it could be the brakes. The sound could be from the minute motion of the brake pads against the caliper or caliper support. The two parts rub together just enough that they squeak. Does the sound change if you apply the brakes?

The other item on that side that it could be is a bad bearing or drive belt. Does the sound change, speed up or go away if you rev the engine in neutral? How about if you switch the AC on/off? Does it get better/worse or not change if you turn the heater blower on high with the headlights on?

Do you need to be in motion or does the squeak still happen if you are setting still in park?

Minute amount of motion. IE: very tiny. Take your fingers and rub them together so they barely move. Steel on steel, that much motion can make it ring like a bell.
The brake pads and calipers are designed to float a bit so that they can move freely when you apply the brakes. They can rub together and squeak or chirp.
That is why I asked if it stops or changes if you apply the brakes.

Bearing wise I mean the bearings in an idle pulley or tension-er, steering pump or other belt drive item. But if you have to be moving then it likely is not this because these would make noise as long as the engine was running, even stopped at a light or in the driveway.