I suspect you have a caliper dragging. This will cause the rotor to overheat and expand, locking up the brakes until it cools down. You could also have a warped rotor that is heating up and getting stuck on the brake pad - either way I would suspect the caliper ( s ) . You can check them by trying to spin the wheels 1 at a time with vehicle raised and brakes warm. If a caliper is dragging and you have a warped rotor, that wheel won't spin smoothly or at all. Another indication would be a pulling to 1 side or the other when brakes are warm. You could actually have a dragging caliper AND a warped rotor. I would start there and to the test to see if this is the problem.
Good luck!
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