Your right-rear tire wear is not necessarily indicative of misalignment. If your tread depths are fairly even across the four circumferential channels of each tire, that means your alignment is good and your tire pressures are what they should be.
It's normal for the right rear to wear faster. Even with xDrive, the rear tires get between 60% and 65% of the power.
When you take a sharp right turn, the right rear tire gets more of the engine's torque than the left rear tire. When you take a wide left turn at speed, the right tires get more weight and therefore more wear than the left tires. My tires on the right-rear wear roughly twice as fast as my tires on the left-front.
BMW has changed their minds several times about tire rotation: don't, left-to-right only, front-to-back only, and my favorite: "consult a BMW center."
Doing a four-tire rotation pattern would even out the wear between all four tires. Since your rear tires get most of the power, use the RWD rotation pattern. Since G20's don't have full-size spare tires, skip the spare position (go from LF to RR).
After 35k miles, Frau Putzer's X3's average tread depths between tires only varied by 0.44/32". Even then, the deepest tread was on the left-front (6.28/32") and the least deep was on the right-rear (5.84/32"). After the current rotation stint, those differences will be just about wiped out.
BMW passenger cars tend to wear the inner half of the tread more. BMW SUV's tend to wear the outer half of the tread more. There are logical explanations for this: BMW spec's more negative camber for the rear wheels of passenger cars. SUV's have a higher center of mass and therefore more body roll in turns. SUV's tend to have higher aspect ratio tires, causing the tires to tuck under more when turning.
Uncle Dougie's attachment of your car's alignment spec's calls for a nominal front toe-in for each wheel to be 0° 07' (or 0.11°) ', and 0° 08' (or 0.13°) for the rear wheels. The nominal value for toe for each wheel is the total toe divided by two. BMW alignment spec's have ridiculously large tolerances. Uncle Dougie's recommending setting your toe to be just within those tolerances (0.02°) That would make any excess wear on the inner half of tread, typical on BMW passenger cars, even worse. Those small toe-values would likely be beneficial on a BMW SUV, though. Uncle Dougie has an X5.
I precisely measure my tread depths when I rotate my tires. Both of our BMW's have spare tires, so it's easy for me to do a DIY tire rotation. (You need a spare tire as a place holder.) Here are the tread depth and tread wear data sheets for the last rotations on my 535i (79k miles) and Frau Putzer's X3 xDrive 30i (35k miles). The 535i's tires wear more on the inner half of the tread. The X3's tires wear more on the outer half of the tread. Both right-rear tires wore more than the left-front tires: 140% more on the 535i, 90% more on the X3.
BMW 535i:
BMW X3: