I have had little sticks and pebbles get into the hand brake drums on the rear wheels (no, not the brake calipers, the brake drums). It makes a scratching, rubbing noise as the wheel rotates. Comes and goes as the stick/ pebble gets jiggled about within the drum lodging and dislodging on the brake mechanism. Alternatively it could be worn out drum shoes.
Remove the rear wheels, then remove the brake disc with which the brake drum is integrated to, ie the rear brake disc and brake drum are one piece. Clean out drum or replace pads as needed.
Videos will explain it.
Land Rover Discovery 3 & 4 Rear brake Disc / handbrake noise fault finding + inspection - YouTube
Land Rover Discovery 3 & 4 Rear Brake Disc & Pad Upgrade & Service LR3 LR4 - YouTube
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