Is it ever necessary to clean and adjust the rear brakes on the 2009 town and co on 2009 Chrysler Town & Country

I get a vibration when I apply brakes..was told that the brakes may need cleaning and adjusting

Asked by for the 2009 Chrysler Town & Country
More likely the problem is a warped brake disc rotor in the front. Could road test and safely and lighty apply parking brake while moving to see if vibration comes from rear brakes.