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The parking brakes are on the inside of the rotor. You have an XC, so if the gear is in N, the rear wheel might be made to turn in the forward rotation only. If it turns, you will hear the noise.
I also suspect the parking brake shoes. New shoes are quite cheap, but you might also have to get new rotors depending on the damage done to the surface on the inside of the rotor (drum, hat). If the scoring isn't too bad, then go ahead and reuse the rotors.
Do not do like the previous owner of my 850T. He tossed all of the parking brake hardware away! And drove without a parking brake. Well, replacement was not cheap and then I had to buy new cables, expander, springs, shoes, holders. What a pain, just to save a few bucks.
The ATF needed for your tranny is 3309 type of fluid. Toyota or Walmart are the best source. Just read the back label to find 3309. Not sure about Walmart, but they should have some by now.
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Keeping it running is better than buying new
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