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Rather than a brake issue I would be more suspicious of a transmission issue. The brakes can't really apply themselves- they don't work that way. The transmission can however lock up internally and make it feel like the brakes are on if it is starting to fail. The 4wd transfer case could as well.
How often does it do this?
It's an automatic transmission, correct?
I got pulled out into the shop for a bit there.
I think there is something failing in the transmission, transfer case or differential. Since there was no check engine light set, I would say it's likely a mechanical issue.
I think the best bet is to have a transmission shop or drivetrain shop check it out. I'm willing to bet that whichever parts is failing likely has metal chunks or shavings in the fluid.