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I'm having the same experience on a 2019 with almost 17k miles. I'm thinking to pull things apart and clean and lube. If I go that far and the brakes are over half used I'll go ahead and swap the pads.
I would recommend removing & cleaning the pads. Also clean the calipers. Before you reinstall the pads, lube the back faces of the pads, as well as top & bottom edges where they touch the inside of the caliper.
There are plenty of videos out there showing how to lube Brembo brake pads. Here's a good one from Brembo:
Your rotors look fine. You can try putting anti-squeal grease on the back of the pads, but that might not be the answer. I had this same issue with my Porsche Cayman S a couple of years ago. Backing out of the garage would bring the loudest, most embarrassing squeal you've ever heard (nothing wrong when traveling forward). I tried everything from lubing the backs of the pads to taking everything apart and lubing the pin sliders, cleaning calipers, etc. Finally, I resorted to a new set of pads with a different compound. Issue solved.
I'd determine with 100% certainly which wheel(s) is making the noise. Since it is an issue in reverse, presumable you are not going fast and you can have someone outside the car listening at each corner when you recreate the noise. Then, as others have said, disassemble the problem wheels' brake components and clean, lube etc. Some brake pads have really hard spots on them (probably not using the correct terminology) that go away over time and or with some hard stops.
Brakes Squeak!!!!
