Without being there in front of your machine it is nearly impossible to be able to tell you where the squealing is coming from and what can be done to quiet it. You may be correct about the rollers or the shaft, but I cannot diagnose it remotely. I suggest that you schedule a service call with Xerox to have a technician take a look at your machine. The phone number for Xerox Customer Technical Support for Phaser Products in the U.S. and Canada is 1.800.835.6100.
My Phaser 6130 has been working very well for several years but suddenly it has started squealing really loudly any time it is running. Does this mena I need to replace my pickup rollers or what? Maybe lubricate a shaft?