Ok, I'll have to apologize, my Workhorse chassis info only goes to 2005 , where the 2000 series was only used in the W-24 chassis .
Your issue sounds like a problem with the " auto park brake" mechanism .
That system uses a electro-hydraulic pump to release the the drive shaft mounted , spring applied , park brake .
The auto park brake is a Workhorse installed item and there maybe posts in the Workhorse chassis forums , that relate to testing the system and any possible repairs required.
In your original post you said you checked all the brakes for dragging .
Were you under the coach to the back of the transmission ?
I've separated the section on the auto park brake system from the chassis pdf, because the entire pdf is over the forum's posting limit.
Note: the text says the correct procedure must be followed to properly release the park brake.