Might be normal. Run them a bit longer and see if it "resolves" itself.
My moving head fixtures still make noise when moving, but I can tell it's the motors, which is what I would expect to hear. I don't think that's at all what you're talking about. Squeaking doesn't sound anything like motor noise.
I would contact service after running the fixtures some more. If they fixtures are still squeaking after more run-time, see what they recommend for any sort of lubricant or possible things to examine. Just have your fixtures nearby and maybe some basic tools to crack the fixture open under advisement.