Brake service/weird noise from the back of the car

How many miles are most people having their brakes checked/serviced? My car is making this weird noise that sounds like a warped rotor from the back passenger side but I haven't done any hard braking so that doesn't make any sense. Also, it's only under light acceleration (cruising in 5th for example) which makes zero sense to me. I don't know if it's a gear problem or a brake problem...I'm hoping it's a brake problem though :(
 
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