Is this normal for TL or any car
 

https://youtu.be/FJZtc7bnZVw

my 2003 TL has some squeak noise from left read when driving. I jacked it up, with no parking brake applied, and rotate wheel, and there is this noise (see video) like brake pad in friction with disk when rotating.

then I found out the right rear wheel has the same issue. so is another TL.

is this normal ? I would expect it to be complete free of each other. also the disk surface is not that smooth.

That is the incorrect installation of the brake pad shim.. You can confirm this by removing the wheel and looking at the outer-edge of the Rotor, You will see some marks indicating metal to metal contact.

Remove the brake caliper
Grab a Flat head Screwdriver
Push the Pad Shims retainers fully into the caliper bracket so it wont touch the rotor.
DONE.