Brake squeal problem. 2007 Toyota Avalon

So my baby is making some high
pitched squealing noises. It starts up
when I've either 1. been driving 20-
25 minutes or 2. hit highway speeds.
It goes away when I brake and also
when I turn my wheel left or right. I
took it to a shop and he said there is
minor wear on the break pads but
should be fine. SUGGESTED
possibly changing all 4 brake pads,
rotors and break hardware and that
MIGHT take care of the squeal.

My rotors on the front were replaced
with brand new about a year and a
half ago. So i have a hard time
believing they need replaced already.
The front brakes were done then
also. My rear brakes were done over
the summer last year.
The squeal is horrible.  I hate driving
my car right now. Does anyone have
any ideas? Should I take it to another
shop for a second opinion?
Unrelated, the quote for the brake
job was absurd when I can do it
myself with cost of parts for 10% of
what they wanted. Ridiculous!