To OP.. If your RV is on a Workhorse Chassis... Workhorse has a Brake Recall, calipers stick causing exactly what you describe.. NOTE: this same braking system has been used in many vehicles but the sticktion problem seems to affect mostly RV's.. I think it is because they sit so much.
TO Larry of the Jeep storey.. "The light on the dash".. Which dash?
Some braking systems have a light on the motor home dash.
Then there is the brake system fault light on the jeep.. Under the failure described I'd not expect it to show a fault.