Braking

If you hear grinding sounds when you apply the brakes:
* The most common cause for this condition is when the lining has worn past its service limit and the metal plate is contacting the rotor.
* Some drivers may experience a grinding noise only when the pedal is slightly applied, and the vehicle is moving very slow (such as slightly releasing the pedal from a stop position). This operation is normal.

Hello,

It sounds like the noise could be due to pads/rotors that are glazed.
When cold the brake makes the noise but as it warms up then it gains more traction and the noise goes away.

It is likely that the pads need to be replaced and the rotors need to be resurfaced (given they are within specification).

https://www.2carpros.com/articles/how-to-replace-front-brake-pads-and-rotors-fwd

I have attached diagrams for your reference.

Please let me know if you have any questions.
Thank you.