I am really surprised Lexus has a TSB (BR2404) for the GX550 (Front Brake Squeal Noise) , and more or less, the components are similar to Toyota except the branding. As both are built on common platform. And why Toyota has not noticed this for so long.
I have the same issue when backing up, and its extra loud in colder weather. I try to pump the brakes as I back up to warm up the metal. Don't know if that is even a thing, but it helps most times... annoying for certain.