Yes man, I have 2020 Touring. Same problem it's just depends how you press the brake pedal, usually you hear the noise up to 2 seconds before complete stop. All new cars have this problem that's because they make some brake system super soft, before Ascent I have a Crosstrek 2018 and it was the same problem I complain but they don't understand, they just whatever, they just want to sell it they don't care. I'm suggesting you if you own your car just wait when the brake system go bad and then you change the brake pads for different brand No more subaru.