if a brake inspection has not found that the brakes need
replacing from a "wear" standpoint, then you should replace them from a "noise" standpoint. your complaint has nothing to do with safety; it's just a noise. at my BMW shop, would advise all the brakes--pads, rotors and sensors
both front and rear as long as the customer approves the
money. we go thru this all the time with extended warranties; customer has a noise but the warranty will not cover noises; only a failed part. if the customer wants to pay, we will fix anything!