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i experienced this problem when i park my truck outside,i think it may have something to do with moisture slightly rusting the rotor surface, my wifes escape also does this. it may also be from your parking brake (if you use it) not releasing fully till the truck rolls.
It isn't the back brakes. I come to a stop and the truck acts like I slamed on the brakes. If it was the rear brakes then the back tires would lock up in gravel and they don't do that.
This is a very common occurence with rear drums. Iti s PROBABLY just a little moisture on your rear shoes and then when you put your foot on the brakes then they grab really good. After driving for a bit they dry up and then it is gone...until tomorrow.
Another thing to check (if you have the time and want to make sure) is your rear wheel cylinders. If they leak and you get brake fluid on your back shoes then they are contaminated and you will need to replace the shoes as well as the wheel cylinder.