When cold and the engine off, and you spin the rear tires by hand are the brakes dragging or do the wheels spin freely? My first reaction is that you may need to replace the rear calipers. Old flexible brake lines can swell internally and cause brakes to remain on after the pedal is released but usually they release after a few seconds. Check the pads and rotors and make sure they are not cracked and hanging up. I'm not familar with ABS problems.
Calipers are about $70 each and easy to replace.