Due to the size and material used on the brakes of these vehicles, the brakes may start to squeak around the 50 percent wear point. The brake rotor surfaces become uneven, causing a lip to form at the outer edge of the rotor. Because of this, the rotors are usually replaced when the pads are worn (pad life varies depending on driving style and terrain).
Squeaking/Worn Brake Pads May Require Rotor Replacement Also on Mercedes-Benz SL550
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My mechanic told me that a solution is to grind the rotors to remove the lip on the pad covers. the lip on the covers of the pad is what causes the squealing when it touches against the rotors.
Even after pad replacement brakes continued to squeal. Had to have the rotors replaced to stop the noise. Seemed very early on for such a major expense.