I don't tow and my brakes are starting to squeal (usually only when it's cold) and I only have about 27k miles too.
Surprise Toyota replaced the rotors under warranty considering brakes are wear and tear item. Dealer is charging over $100 just for an inspection so I might just take it to a...
04 Subaru WRX
02 BMW 330ci
00 Audi A6 4.2
06 Honda Accord EX Coupe
06 Acura TL
06 BMW M3
08 BMW M3
10 Lexus RX350
02 Lexus IS300
06 Subaru Legacy GT
06 BMW 335i
06 BMW M5