Removing the wheel is the easiest way. Look at the rotor for uneven wear. The pads should also have substantial depth left as well as no slanted wear. The squeak in the morning is most likely not bad. Dirt/dust will cause squeaking therefor it may just be a settling of break dust overnight. Squeaking that will not go away, poor breaking, and rough breaking are a few signs of bad breaks.
Hope it helps. Stup
It is not unusual to have disk brakes squeek once in the morning on first driving. Brake dust accumulates on the rotors and pads. This dust gathers moisture when the car is idle overnight. The first stop heats the rotor and pads, drying them out, and the dust is released and expelled. Hence, no more squeeks for the day.
To check disk brakes (fronts for most cars) you need to jack up the car, remove the front wheels (only one at a time), and inspect the edge of the brake pads located in the caliper for available brake material. Be aware, there is a metal plate about an 3/16" thick that the brake material is bonded to, don't include this as the brake material thickness. If the brake material is getting down to or less than 1/4" thick, replace the set (both fronts) ASAP.
Inspecting rear drum brakes requires significant experience to remove the drums. If you don't already know how to do it, refer it to a mechanic.
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