I mean, very simply put: friction..? The rubber sole is slightly lubricated by water/liquid so it isn’t firmly grasping the floor and as the sole grinds against the floor, it squeaks.
The same applies a la a basketball court without the lubricant, where the soles are hyper grabbing the flooring and the same friction makes a sound as it tries to stop the movement. No different when you slam on the brakes in your vehicle.
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