Brake Squeal
Years ago, I used to commute across town almost entirely on the freeway. Light brake usage caused glazing on the brake pads and discs, which resulted in a high pitched squeal during braking.
After coming across an article on how brake dust can form a glass-like glaze burned onto brake surfaces, I tried the fix that was suggested. Find a lightly travelled road where you can run your car up to 60-70 mph, and then hit the brakes hard until you come to a complete stop. Then, repeat about three or four times to heat up the brakes. This heat will break the glaze and the squeal should go away (or at least be significantly reduced).
The only other alternative is to get a brake job, where they turn the discs and drums, and replace the pads and shoes.
I suspect that since Prius's use regenerative braking, they also suffer from glazing.
Just a suggest -- might be worth a try...