There’s a few things going on here: and they could be serious.
From what I understand you just did your brakes not that long ago and they are already worn. That is probably not your fault it that is the case. You probably bought an organic pad material. They are quieter, but make more dust and wear faster and are generally softer. That is my first assumption. Replace them with a ceramic material. They are OE equipment on most cars and trucks. Try this part number on http://www.RockAuto.com : QC369 (for a 1999 1500 dodge ram) If you chose a semi metallic pad they have good life but chew up rotors because they are more abrasive. They are recommended if you tow a lot. (I read that you don’t do much towing)
Secondly, check the shims: http://www.youtube.com/watch?v=WsaEtMaW6Qw they could be causing the noise.
thirdly, Check your ball joints, tie rods, idler arm, pitman arm joints for wear or torn boots, they could be causing your steering noise, Replace them even if you suspect them to be bad!!! They cannot be over looked. If you think they are fine, Grease them with a grease gun. This should be done every oil change. If you decide to replace them remember to get an alignment after too.
Fourthly, Change your diff fluids! it is an easy process and is preventative maintenance. If you look at your owners manual it will say how often to change them. Hopefully you still have it. Look for Eric’s video coming out this week for the procedure.
Also, check your tire pressure, that can cause uneven steering resistance and cause the steering pump to work harder, causing noise.
I would recommend checking these first. These are the inexpensive parts and if they good, then change power steering fluid (which you may choose to do anyways, check your owners manual if they require you to change ps fluid) If you are still having steering noises, your power steering rack may be to blame, lets cross that bridge when/if we get there. I hope this helps!!!
Good Luck in your adventure with your truck!