Melted front ABS Sensors

I think I would buy an IR gun and shoot the brakes every time I stopped if I were you. Something funny going on there.

I shoot my tires on every stop looking for problems like yours.

Since I didn't know the history of the MH I had a full service done
including the brake fluid changed.

Have you flushed your brake fluid? This was the big part of the Workhorse brake recall and it isn't just a WH problem. Moisture is drawn to brake fluid and as the moisture builds in the system it will cause corrosion on interior brake parts. Water in the brake fluid will also boil when it gets hot and become a vapor. You will then have the pedal go to the floor and not stop the coach. You can compress a vapor but not a fluid. My first experience with that was on my '89 E350 when it got to 2 years old. I came down a hill and went through a red light. No problem then. I pulled into a Church yard while the brakes cooled off and I changed my underwear. I flush brake fluid every 2 years now.

sounds like the caliper stuck things get cherry red when that happpens. I though I read aways back about a recall on ford calipers sticking ,been a while. just by looking at them you can tell there burnt. the dealer should be able to look this up. or go to google type in ford brake recall.