So, I visited Tesla SC on Aug. 4. Service Center confirmed the noise, said rear brake calipers need replacing.
Text from Tesla: "...the parts are in. Scheduled for service Sept. 27, 7:00am"
Took the car in this morning. Different tech evaluates the sound, says, "It's normal. No service needed."
2nd tech: Ditto
3rd tech (5 years with Tesla): "The excessive noise simply means the rear parking brake actuators need to be calibrated."
While I wait, he says, "Why didn't they do this for you when you brought it in Aug. 4? If the actuator isn't calibrated periodically, it will make excessive noise. FYI, I've never seen an actuator that has failed, they just get noisy."
He calibrated the actuator (twice). The screaming scrunching sound is eliminated.
So, they were planning on replacing BOTH rear calipers, which have the actuator built-in. I'm glad they didn't throw away perfectly functioning expensive parts.