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Check the fluid level in the transmission. run the fault codes to check for torque converter clutch and TCM operation. Check that the park brake is actually coming free on being released and not locking up on the rear wheels.
you need to take off the rear wheel and there is a hand brake hole in the drum on the disc. you locate the hole with the adjuster.. make sure the hand brake is not on. the leaver for the hand brake take the cable off if the brake is locked the leave will let you take it off. then get a peace of wood and put it on the leaver and hit it back with hammer on the wood not the leaver. then take the screw out for the locator of the disc. and hit the disc with rubber or plastic hammer going round the disc. not to hard just to get it to move when of find out why the hand brake is locked in the first place. ( prob be the shoe's pins ) change the parts. while parts off give good clean and put some copper grease on the parts that move. huck back up the cable and check disc drum part for damage. screw the adjuster back down and refit. when disc back on adjust the brake with the hole lined up and move back and forth until the brake is locked then turn back one point on the adjuster check the disc turns and then use the hand brake. if still an bit hard to move after hand brake off nock the adjuster back down one more and test again. if all well put wheel back on.
Your problem would appear to be something amiss in the rear brake on the locked wheel. If a wheel sylinder was leaking the brake shoes would become "sticky" and cause the shoes to "lock on" to the drum. Or if the brake was out of adjustment, the assembly could come apart and pieces of it jamb the wheel. This problem is fairly common with drum brakes. You need to have the rear brakes serviced, & checked for fluid or grease on the braking surfaces. All leaks fixed, backing plates cleaned, the wheel cylinders overhauled, & the brake shoes replaced.
My advise is to adjust the rear brakes. The drum should not move in a side to side fashion. adjusting the brakes will also more than likely take care of that anti lock brake light also. adjust the brakes up to where the rear wheel will spin but you should be able to hear the brake show dragging slightly on the drum.