Hey guys, Whenever I start breaking on my 2000 XJ sport I hear a loud squeaking, or a low squeaking like something grinding on the rotor. I checked the brakes they have about 1/2 life left. It bugs me to no end. Rotors are also good.

 

update: The squeaking does not happen when I brake while the wheels are turned, seems to only occur when I'm driving in a straight path.

 

Try an anti-squeel compound from you l.a.s. Don’t forget to apply a thin amount to the pad slides as well.
Hopefully as an encouragement, try to finish braking to the appropriate speed before entering a turn. Braking in a straight line more effectively slows down your vehicle.