Update:
Tried a few settings
#1: Camera on, ground- Properly switches to camera when put in reverse, but camera comes on in drive randomly
#2: Camera on, battery- Switched to camera briefly ONLY WHEN LEAVING THE REVERSE GEAR, NOT WHILE IN REVERSE
#3: Camera off, ground- Nothing happens when switched to reverse
#4: Camera off, battery- Nothing happens when switched to reverse
Also, it seems to only switch on while in drive when in an application (SiriusXM, HD radio, Bluetooth, etc.), not when on the home screen.
Not sure what else to try.