What could be the cause of intermittent car brake grinding noise at slower speeds?

I recently bought an used rental Hyundai Elantra 2019 SEL and it has 40K miles on it. After driving the car for about a month, I have been hearing unpleasant sound coming from the brakes. The sound resembles that of a grinder and it is intermittent and only occurs if I am not driving for 3-4 days. Moreover, it occurs only when I am attempting to park or take it out of the parking lot at slower speeds. It disappears after I start driving. The sound is severe if I am doing full turns, either left or right during parking without pressing on the brake. This leads to believe it is not 100% the brakes fault. The brakes are fully responsive in high speeds and helps bring the car to complete stop without any issues or noise. We are approaching winter here with <50F temperatures.

I am not sure what the problem is. Maybe caused by driving behavior, weather, or worn out parts? Can somebody shed their thoughts? I am really worried because I just bought the car and I am nervous about the expense this problem may lead to.