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Driving it backwards a bit probably warmed them up enough to let go so I guess that is an option next time. Just drive your first mile in reverse.
Parking brakes have almost no grip in reverse so at least you are lucky it was just a stuck pad or something and not the whole drum full of ice keeping the whole thing locked up tight till spring thaw. Be almost as bad as parking in a deep hole of water that froze up around your tire and stuck the car in place.
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