From a brake engineer . . . .
I do brake systems for a living, admittedly for heavy trucks, but once you get down to foundation brakes (the stuff turning inertia into heat), the rules generally apply universally. Freeze-up is a common heavy truck issue, as service brakes are also used for parking.
Well-burnished brakes will freeze up less 'strongly', and are less likely to freeze up. Once the cross hatching is gone from the rotor and the pad beds a bit, this will improve. The only way to get there is to use them. Brake dust is also your friend in this case.
No magic solution here, sorry. Drum or disc, it just is.
Rick 90432
(Product Mgr. ESP systems for Bendix CVS, Elyria, Ohio; BSME Akron 1993, P.E., Ohio.)