I experienced this issue this past year as well on my 2019 Sierra 1500 Denali with 76,000 miles from what I think is the left (driver’s side) rear wheel assembly. It was so disconcerting at first that I immediately took it to the dealer a few miles away but it wasn’t occurring any longer when I got there. They pulled the wheel and didn’t find anything significant other than a broken brake sensor which they fixed. I also had them check the parking brake since use it regularly. Nothing unusual other than a dead mouse in the wheel/brake assembly. A week later, the grinding occurred again while backing up. This time, while driving forward slowly, I applied the parking brake until the truck came to a stop. When I put it in reverse, the grinding did not occur. About a month later while backing up, it occurred again for a third time and I did the same thing - stopped, drove forward to about 10mph and applied the parking brake until the truck stopped. Put it in reverse again, no more grinding. It’s been a few months now since then without a recurrence. In the meantime, the truck underwent the state safety and emission inspection, and was on the lift to have a rear flat tire removed and repaired. Nothing out of the ordinary was identified.