I didn't get time to take apart both rear brake assemblies... but the left side (the one which was locking the most) was dry of brake fluid and grease, and the shoes were good. This really baffled me...
The parking brake cable is in good condition, and not too tight; plenty of slack... Drum and shoes did not appear to be glazed, but I sanded the surfaces anyway. The low speed grabbing problem persisted, however...
I searched around on the 'net and found a Pontiac Grand Am forum, and from what I've learned, this is a very common problem with the front disc/rear drum ABS system.
The brake computer engages the rear brakes first, with a slight delay for the front discs. This is because the discs are already nearly touching the rotors, but on drum brakes, the shoes are pulled away slightly from the drums. So the computer gives the drum brakes a "head start" or sorts...
I might still find a wet or greasy right/rear brake assembly. I'll take it apart today.
One guy who claims to have solved all such GM rear brake grabbing problems (again, presumably common to the disc/drum ABS systems) says he simply installs new rear brake shoes of high quality, and replaces the return springs.
I did notice that the return springs were not quite strong enough to retract the brake shoes quickly and completely. I don't know how this might cause the rear brakes to grab, however--unless the head start the computer is giving the rear brakes, coupled with the fact that they are already too close to the drums, could be doing it.
The front shoes seem fine, so the idea that the front brakes are not working doesn't seem plausible. (Someone on that Pontiac forum suggested this). It was also suggested that the sliders on the front brakes might need to be cleaned and lubed, but I cannot see how this would delay the deployment of the front brakes significantly enough to cause the rear brakes to grab.
Both rear wheels are grabbing, as I can see scuffing on both tires.
I drove the car at 60 mph on a deserted, rural road, and slammed on the brakes. I did this three or four times. Everything works fine, no grabbing or stopping problems. Doesn't pull left or right... The ABS system seems to be working fine...
I bled the front brakes (thinking some air in the front lines might make the front brake operation spongy, causing my problem)... but the brakes still occasionally grab.
I also had a mechanic advise me, and he bled the main booster at both valves. There was no air in the lines anywhere; all was good...
Again, the rear brakes grab at low speeds only, it seems. If you stop from any speed over about 25 mph you never notice the problem. I suppose this is because the front brakes are firmly engaged by the time the vehicle slows to a stop, if you brake from a higher speed. The grabbing problem really only happens when you're going very slow, such as when you've just pulled into the drive way, or when in a parking lot scenario.
I'll check the right side today and see if it's okay. I may go on and replace the return springs, and possibly the shoes as well, even though they are only about half worn down. Maybe that'll solve the problem...
Thanks for the advice, and the sympathy.
Dan