My car does this as well. I think it is caused by the e-brake sticking a little, but because I have MT I always use e-brake so I have never tried without. I mentioned it to the dealer when I brought it in for service and their response was vague and unhelpful. Mostly just told me to live with it.
My brakes were squeaking as well due to an improperly installed sensor that was prematurely rubbing. Now that I think about it, since they replaced my pads/sensors for my brake squealing issue, I have not noticed the reverse squealing issue either. Perhaps that is the cause?
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