I've had a ton of sqeaks coming from my wheels when driving, possibly the front wheels. Basically when I take off from a stop I hear it squeak multiple times like a constant "squeak squeak squeak squeak". The faster I drive, the faster the squeaks go.  When I push my brake pedal very lightly, I can get it to squeak. However, when I push the brake pedal to actually slow down or stop, the squeaking goes away. As I take off again, the squeaking returns.

Any thoughts on what this might be?  Perhaps a brake not able to fully release from the rotor and very lightly touching it? It is interesting that regular strength braking makes the squeak go away as opposed to it squeaking in regular motiob and when very lightly pushing the brake pedal. 

Car is a 2014 Mazda 6 Touring with 115,000 miles. No noticeable issues other than the squeaking.