Hello Coleyflower.
When I saw your post I thought I’d replied to a similar post on binding of front disks and it turns out this was from you. Did you fix those and what did you do?
Rear drum brakes (pure drums, rather than rear disks with drum handbrakes) are practically the same on every Toyota. The best and most likely fix is to service them and the manuals and relevant YT videos are the best way to do this. The problem, as NickZ points out, could be due to the wheel cylinders but I think you are also more likely to have binding brakes when the shoes are more worn out.
If the fronts were binding and also the rears, then this is maybe related to fluid / (rear cylinders / front callipers) and maybe the master cylinder pushing fluid through, and it not coming back when the pedal is released. This might be related the servo leaking vacuum so the brakes are pushed on a tad.
A couple of other points might be to ensure the pedal is in the right place and the springs are all attached and correct (also in the wheels btw). It might also be the master cylinder needs a rebuild / replace as it could be not releasing correctly.
Hope this all makes a bit of sense? If you can say what you did to fix the binding front brakes then this would be helpful.
Another point is that the fluid might need flushing through. Most cars should have the fluid changed every few years as it absorbs water and when fluid containing moisture gets hot then it expands and is more likely to push on the brakes.
Sorry to not be more precise, but a bit more info might be helpful on what you’ve already done first?
That you have had problems in the balance of the brakes suggest they do need a service.
Oh and the foot brake operates the wheel cylinder (obvs) but if you have typical rear drum brakes (pure drums, rather than rear disks with drum handbrakes), which I expect you have then the handbrake does the take-up adjustment in the brakes. At the end of adjustment / service you should pump the handbrake to set the brake shoes correctly, then the foot brake will actuate the brakes when in motion. If the handbrake mechanism is not working properly then the shoes won’t set properly. So, another place to look is that the handbrake!
HTH and do report back.