2016 Hyundai Sonata Hybrid - Rubs

getting rubbing or scraping rear area of car at low speeds

Were the tires recently replaced?
If the answer is “yes”, then it is likely that a non-stock tire size was installed, and you need to return to the tire shop.

If the answer is “no”, then I think that you have no alternative to taking the car to a qualified mechanic for his evaluation.

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Some cars (or maybe all of them these days) use plastic wheel-well liners to help deter rust. If one of those came loose it could rub on the wheel. Especially if the car has been damaged in a fender bender before.

When is the last time anyone has checked your rear brakes?