It sounds like your pads are worn enough that when you turn, that little tab on the pads backing plate that when the brakes are totally shot, this tab rubs on the rotor squealing, telling you that you need to replace the pad, or bad wheel bearings could be the problem too. reach in and bend that tab away from the rotor a little and see if it continues.
Sure it's not the serpentine belt squealing under load from the power steering? Just a guess.
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