Yes, I have the same issue in my 2020 GMC 2500 HD AT4. Like you, it took me a while to figure out what it was. I removed the headrests and the rattle disappeared. With the headrest off, you can wiggle the metal bars and hear/feel the top of those bars hitting the inside of the headrest. If they didn't fold down and were stationary, I suspect they wouldn't rattle. I'm trying to figure out what I can do to stop this. May try pulling the bars apart as suggested I this string.