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Sounds like the master cylinder is not working properly. Possible dirt in the relief
hole not allowing for the fluid to return when the brake is released. There is a little hole in the bottom of the master.
Another think that could cause what you are experiencing is not enough gap between the rod and the master cylinder. When the fluid gets hot, it expands closing the gap and not allowing for fluid return.
The above is if all four wheels are hanging up. If it's only one or two, check the flex lines. They can go bad internally and not release fluid when the brakes are released. Since there is only one flex line to the rear, a bad one would effect both rear brakes.
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