2020 ACOR, frequent RR brake lockup after parking

I always use my parking brake when parking because I believe it's best for the truck and prevents it from seizing.

A few months ago, I noticed that often when I released the brake, shifted into drive, and started moving forward that it seemed I was dragging a rear wheel. At first it was just a little and I figured the brake cable or shoe was getting sticky or rusted. Since I also want to do my front brakes, I made a note to check it out while doing that.

Fast forward a few months to today. I have experimented and found that just driving forward when this happens doesn't tend to release the stuck wheel in a reasonable time. Reversing and stopping seems to do the trick immediately. This makes me look rather incompetent in a busy parking lot, but that's beside the point.

So, we're all thinking: "Okay, so your parking brake or shoe is sticking when you use the brake. Plan some service and don't use it in the meantime". But that's where things get more complicated.

After driving around one morning, enough to get everything warm, I parked at a store and didn't use the hand brake. I was in there for maybe 30 minutes or so, then returned to the truck. I started the engine with my foot on the brake as always, shifted to drive, foot off the brake, and started to pull away with light throttle.

I think it rolled freely for a revolution or two and then abruptly and completely locked! I was taken by surprise but fortunately there wasn't anyone else behind me. I did a quick little stop, reverse a bit, and then back to drive. Everything worked normally while driving.

I acknowledge that I need to pull the drums myself or send it somewhere, but what's the chance this is about more than the drums, shoes and cables? I'm thinking maybe there could be a wheel speed sensor or ring issue too. If that's the case, I'd probably hand it off to someone else for diagnostic.

Maybe I just do the brake job, paying attention to potentially sticking parts, then monitor carefully afterwards for residual problems?

EDIT: Though I had a look before posting this, I didn't find this related thread until now:

https://www.tacomaworld.com/threads/parking-emergency-brake-seized-stuck.470756/