I have a 2020 with the same issue. The brakes were squealing, moaning, roaring, and whatever other annoying sounds you can think of when stopping at slow speeds. And this was with cold or hot brakes, it did not matter. A drive thru was very embarrassing. My dealer changed my brakes around 20k miles based on a TSB but the new brakes were not any better. After dealing with the noisy brakes for 68k miles, I finally got fed up a couple months ago and changed all the brake pads to the Powerstop z36 towing pads. I have put almost 3k on those pads and not even a little squeak. I normally only buy OEM parts but do yourself a favor and ditch the GM pads, you'll be glad you did!
And it is definitely an issue. Here is the 7 page post from another person.