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It sounds like your brake shoes were either frozen or rusted to the brake drums. What you did, the resultant loud "bang" and normal operations afterward are typical of that condition.
Yes, you should pull the lanyards periodocally to manually drain the air tanks and look for water or oil coming out. That would indicate other problems. A properly functioning air dryer along with the heated automatic purge valve should prevent water/condensation from getting into your air lines. If you have never had the air dryer serviced, since you are coming up on six years old, it would be a prudent preventive maintenance item to have done.
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'07 Winnebago Journey 34H,
Toad - "08 Ford Taurus X
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