When braking in reverse there is a grinding/scaping noise?

It's past time for a brake system inspection. By the time you hear grinding during braking, it's usually too late to save the rotors. The good news is replacements are not as expensive as they were 20 years ago. Today most rotors are made so thin to save weight that they wear to below the minimum legal thickness with each set of pads. Sometimes we can save them with a light machining, but for now, expect to include them in the repair estimate.

You might check out this article:

https://www.2carpros.com/articles/how-a-brake-system-works

to see if you recognize the symptoms and typical repairs.

Let me know if you have more details or observations to include.