Auto Park Brake Issue or Not?

Paleo wrote:
Just purchased a 96' Winnebago Adventurer 32 on the Chevy chassis. During the test drive, when I tried to put the RV in reverse, the auto park brake would engage and you would have to wiggle the shifter to make it disengage. When u stop, and shift into reverse or any other gear, u can hear the pump whine, then the light goes off, so I figured it needs some maintenance, not a big deal.

Well, I drove it to the storage unit, and when I got to the storage unit (and even before then really), I could hear some brake squeel coming from the rear and maybe an ever-so-slight drag. When I hopped out, there was a small amount of smoke coming from the rear tire rims, so I assumed the brakes must be dragging some from not being used, again, nothing a little maintenance shouldn't take care of.

However, when I got home I started googling and reading horror stories about how these auto park brakes get chewed up and cost $4k to fix, I'm really freaked out now. From what I understand though, the smoke couldn't have been caused by the auto park brake b/c that's closer to the front of the rig correct? It seems there is some fluid or something that is sticking to the rear wheels, is this indicative of something other than just bad brakes? (PIC)

I was going to drive it to my mechanics but now am unsure if I should try to drive it for fear of causing major damage b/c of the APB, am I overthinking this if the light is off when I am in drive and the rig seems to roll fine? Should I have it towed instead and if I do, do I need to tell the tow operator to drop the driveshaft to prevent damage b/c of the APB?

Thanks for indulging in my paranoia :D

A lot of stabbing in the dark here, so what you first need, is a lot of education, concerning the autopark systems and hopefully Roger, the AP guru, will be getting back to you shortly with a day's reading of material and advice. Most likely your problem with reverse is with having the cam type actuator, which you can see, but not reach, by lying on your back down under the steering column. Most have tied a rag on a stick and coated it with grease for lubing such. In addition, many install a momentary bypass switch on the steering column inside, for assistance in these situations. Do a search here for tons of threads on that and other AP issues.
Firstly, you should be finding out if you have the self contained version III or not and even though you have the earlier manual foot pedal.
Lastly, be wary of any mechanic that doesn't have prior AP experience and another reason for educating yourself, whether you do your own work or not.
The horror stories that you've heard about with the AP system, come mostly from said lack of education, not having spare parts on board and with would be professionals working on them, who shouldn't be and for whether or not, they're clueless or realize that you are and then decide on taking you for a monetary ride.
Your rear wheel problem with whatever that is and might be leaking there, has nothing whatsoever to do with the AP system, which is a drum brake on the drive shaft, behind the transmission.