The symptom:
During the day the wife and I both park in front of the garage (under a shade awning). Early evening we stroll out and allow the cars to free into the garage, down a mild incline.
Recently (number of months) I have found that I need to park a little further from the garage door, otherwise the Pajero won’t make it all the way into the garage under gravity. This problem is accompanied by a definite noise of binding brakes. This is not the case for at least a few hours after arriving home (at 3pm

The problem is “mild” and the brakes do not get warm by driving off. I do however know there is a certain amount brake wear and wasted fuel, when I drive off on the mornings.
Because the car is parked with the handbrake up and I need to depress the brake pedal to release the box from P to N, I don’t really know if it is the handbrake or the discs that don’t release fully.
I have inspected (fancy word for peeking through the rims

My questions are:
1) Should I even bother?
2) Is there a recommended lubricant I can apply to a few of the moving parts in the caliper?
3) Any other advice you gents can think of?
PS: The car in the other garage is a new Chev Cruze 1.8. I have never seen a car with such low (zero) rolling resistance. My mind just boggles every evening.
Thanks in advance,
Roelf