Brakes Make a Sound

Wife’s 2005 Toyota Highlander. Don’t think the brakes have been replaced.

After driving for 20-30 minutes, when the brakes are applied, there is a “whoop-whoop-whoop” noise. Occassionaly, there is a squeal (meaning the brakes need to be replaced, I know).

I don’t want to get screwed when I take the car in for work on the brakes. Any diagnosis or tips or suggestions?

Also, dealer or shop that specializes in brakes?