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Due to the amount of time the trucks sat, I'd pull the drum for a inside inspection. I'd like to tell you you'd only have to pull the can and the wedge, but not seeing how rusty the other parts were, we'd be taking a SWAG on what's the culprit. Pull the one then decide of the others also...

Chances are that your brake problem is due to a sticky brake wedge. The ABS system only reads the sensor on the rear axle. Both axles are controlled via the ABS module. Pull the drum, and sand all the brake gliding surfaces and coat with a high temperature waterproof grease. Don't over due it...