Medium and Heavy Trucks
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On most models this is usually due to the master cylinder failing.It will heat up as the vehicle is driven and brakes are operated off and on and causes the seals/cups to swell in the master cylinder and causes this fault here where it applies brake hydraulic fluid pressure to the brake calipers causing them to slowly grab like this.The master cylinder usually needs replaced as well as the brake fluid flushed to resolve this here.If it is only one brake itself and not all brakes or front or rear brakes this may be just the brake caliper itself at fault for the brake that is grabbing with it needing replaced.
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Replace the rubber brake lines on steer axle brakes from caliper to frame, they swell internally not allowing fluid to return to master cylinder when they get hot, to verify after brakes start grabbing loosen front bleeders to allow fluid to escape, then tighten and see if brakes are freed up, they will stick again once pedal is pushed down but it's enough to make sure the lines are at fault. Easier to tell with wheels off the ground once free wheel should rotate freely.