There is a service bulletin/recall on the rear brakes on this issue with a software update. Did you get the update done to your 2019's ?
NUMBER: 19V843
RECALL DATE: NOV 22, 2019
Last Updated Oct 17, 2020
The Trike Traction Control System software used on the subject motorcycles may respond incorrectly to a faulty rear wheel speed signal by activating one of therear brakes.
Model
Tri Glide Ultra
Safety Risk
Unintended activation of one rear brake could lead to an unexpected change in vehicle direction which may increase the risk of a crash.
Remedy
Owners of affected motorcycles will be asked to arrange service with an authorized Harley-Davidson dealer, who will confirm that the motorcycle is covered by this recall. If covered, the dealer will install a new software download. This service will be provided at no charge to the customer.