I suspect its just an E-brake adjustment.
Try this......set the e-brake to the first or second click, just where it starts to brake.
Then do your rub-provoking manuevers. If the sound is now changed or gone, its simply a rear brake pad dragging ever so slightly. It will go away when it wears a bit. If you have a hand-held pyrometer, check the rear rotor temps after a drive. It will reveal the possible dragger..........the hotter one.
Those who always use the E-brake can provoke this. (As well as warped rotors) Try to use the E-brake for essential needs only: parking on hills, idling when away, and in emergencies!
Try to break the habit of yanking the brake every time you shut off the car. {Wow, 2 proper uses of break-brake in the same sentence!} But DO remember to yank it several times (the E-brake lever) before track events! This helps rotate that piston a few mm closer to the rotor and can actually help rear bias ever so slightly.