Couple of things. #1 check the front brakes before you drive it again.
It could be something as simple as rust on the rotors after it sits. Bare metal on the rotors will build up overnight, especially after a rain, or if you live near the coast. The pads will rub the rust off after a few miles of driving.
#2 see if possibly the brakes are low. Most pads have sensors, we call em squealers, that rub the rotor when the pads are getting low. It's there to let you know it's time for brakes.
97 Sahara, 74 Renegade, 72 CJ5, 55 Willy's (the Beast) Boss 302, 6:34 gearing, Bose 901 speakers.
God I miss that Jeep. Forgot the kinda Jeep, 80 SX4.