rear brakes stay on when I lift off br pedal. "rear anti-lock brake" and "brake"idiot light appears.

What is your question?

Front calipers and rear wheel brake cylinders have been replaced: no change. If pedal is pressed very lightly and "idiot lights" don't come on, problem is greatly lessened. When pressed hard enough to light up anti-lock brake and brake idiot lights on dash, problem is more aggressive, the harder you push the pedal, the worse the problem. When left to sit for 1 hour, goes back to normal. Van has 17,000 miles, was a police surveillance vehicle, was very well maintained, saw very few miles, is in otherwise as new condition