If the handbrake levers on the calipers ar not returning fully to their stops the calipers will not self adjust
One caliper at a time hold the lever back on the stop and get someone to press the footbrake a few times and do the same with the other caliper
If this gives a good hand brake the levers or the hand brake cables are partially siezed or their is not sufficient free play in the cables to let the caliper levers return to their stops
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