Mother in Law's 1996 4runner was having issues with rear axle, backing out of the driveway was fine, put it in drive and it would act like the rear was locking up, maybe a spider tooth ??? One day it would not move in drive, locked up, we let this sit for 4 months, I bought a new rear axle to replace it, moved the 4runner so i could swap axles, it had no more problem ??? Thinking maybe the park brake was not releasing all the way ??? Have not used it since, and no more problem !!! A Puzzler !!!

 

It might be a collapsed rubber brake line. The fluid is engaging the brakes but it is unable to flow back to release them. After setting it might have gradually bleed off the pressure. If it happens again crack open the rear bleeders and see if there is pressure.It also could be the brake cable sticking as you said. you can jack a rear wheel off the ground and rock the tire back and forth ,If it moves the problem may be in the rear end if it doesn't move it is the brakes locked.