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There are 2 possibilities if Parking Brake release mechanism doen't alway release
One is FanAddict pointing to the foot lever, the other one could be at the parking brake mechanism-s (2) themselves inside the inner drum of the rear rotor disc.
The mechanism-s can be : The pull cable or the true parking brake component itself. The parking brake is using old fashion drum brake shoe.
These are the friction zones impacting the parking brake PULL CABLE. The cable itself has a strong spring inside its jacket end which resist PULL action by our leg at the Parking Foot Pedal.
That spring is also the one responsible for the self release movement of PULL CABLE towards the Parking Foot Pedal Assy which also has a spring. See below :
Pull cable rear view as it enters the Parking Brake region inside the Rear Disc Brake Rotor
Closer view of how Pull Cable is working along with the unique lever system which basically JACK-UP one side of the brake shoes to engage the drum and create friction.
So, these are all the total components which can effect how smooth the parking brake engagement will be and self return/release too.
The Parking Brake Foot Pedal as far as I know is not adjustable. It has a fixed numbers of click-click-click & distance before it will lock and un-lock.
The adjustment of Parking Brake is at the drum/shoe I showed you, at the rear brake.
There is a WIS on it. You can't over adjust, as that will means your brake shoe will keep kissing the drum. You can't under adjust too, as your brake shoe may not create enough friction during use on a high gradient.
It is a bi-etch to work on the parking brake total disassembly, because working space and the spring is so strong, there are special tools for it.
If adjustment only, it is easy. You best clean the parking brake region too, as that thing almost has no proper "holes" to remove its own dust and corossion powder.
Attached is the WIS
NOTE : To do any parking brake work at the rear disc brake system, you are also doing caliper and brake pad and brake rotor removal at the rear brake system... otherwise there is no access