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96 A4Q wheel noise

Since the local weather has warmed up here in Clev. I have noticed a
"chirping" sound from at least my front wheels whenever I drive over a
small road bump at speeds above 20 mph. It is really obvious driving
around with the the windows down and cheapens the quality of the ride.
It sounds like the brake pads hitting against the rotors but it does not
occur if I apply slight brake pressure while going over the same bumps.
Car (2.8) has about 10K miles on it. Does this sound like loose calipers
or is there something I can do to fix the pads from vibrating. Note:
there is no brake squeal at all when I apply the brakes to and come to a
complete stop. Any suggestions or comments would be appreciated.