[mdvaughn]

Sounds like calipers are sticking and or brake lines are collapsing.

Could be one or both.

Once the brakes are overheated the sticking will get worse with use.

Guessing it is the front brakes on the truck?
Replace brake pads calipers and brake hose on both front brakes.

Do not get tempted to replace only the calipers as often it is the hoses that are bad causing the calipers to fail.

700,000+ miles and several Dodge Rams experience.