Wayne - 16 inch or 17 inch wheels on the GC?
Unfortunately, those are the old design brakes... which have been a problem for years in the Dodge/Chrysler minivans.
Just bite the bullet and do a brake job with new pads and rotors, and move on.
Yep. Good call. Unfortunately, you got the last model year with the horrible brakes. You could get the upgraded brakes on 2013's, but you had to bump up out of the base model, to models with 17" wheels for the larger rotors. For 2014+, even the most basic AVP/CVP models come with the upgraded brakes.
~36K miles in a year! WOW. That's actually well beyond what owners are getting out of the 16" wheel brakes on DGCs. New pads and rotors are in order.