One of my first questions is wether the Expy had been stopping OK before you noticed this? The reason I ask is:
- Either, the Front Calipers were not working, in which case the Expy would have a NOTICABLE increase in stopping distance (this is because the front rotors do 70+% of the stopping work due to weight transfer to the front during stopping. This is why the front rotors are larger and ventilated.)
- Or the Rear Calipers were frozen, OR, the parking brake was not fully disengaging, which is my guess. The rear parking brake is cable actuated, and may get stuck by any number of reasons. The pedal may feel like it was releasing the brakes, but unless you get under the Expy and see for yourself, you might never know.
I would first check the parking brake cable by having someone engage and disengage the parking brake while you are under the truck looking at the cable. You could even jack up the rear and see if the wheels turn freely with it off, and are locked when it is on. My guess is that this is the problem, and you will have to service/replace the cable.
If it is not the cable, and the truck was stopping OK, then rebuild/replace the rear calipers. If the Expy was not stopping well, the front calipers need to be serviced.
In any case, it seems you need new rear rotors, buy them in pairs (try Brembo rotors), new pads, and bleed the system well.
Hope this helps.