I had a similar problem with a '94 Bounder and I spent hours trying to figure out the problem. It wasn't until I changed the hydraulic valve that controlled the brake assy that it started working correctly.
Also, there was a 20 foot long wire cable that went from the shift lever all the way back to the valve and sometimes it would come loose where it was attached to the frame next to the driver so it would be out of sorts and intermittently apply the brake.
So check that assy next to the driver and see if your setup is similar to what mine was, than if it is, check the clamp on the cable, make sure it's not loose.
Oh, forgot, I've got an ad free RV repair blog that covers the Bendix type setup on a Freightliner chassis:
AutoPark Brake
Here's what that loose cable looks like next to the driver, it's that black cable. It would get loose and wobbly: