I doubt it's anything to do with the bearings.
Possible the calipers are sticking a bit, or indeed the rear drums brakes are suffering from lack of use...it sounds like a front disc rear drum set up, would that be correct?
I'm not sure whether you are getting hot front or rear wheels but from the sounds of it your vehicle needs a full brake strip and inspection anyway, check for free movement of all caliper pistons and slave cylinder pistons too.
Check for free movement of any caliper sliders (if the fronts are getting hot that's my bet), fully lubricate all parts with the correct brake lubricants, and reassemble.
Don't forget to give your handbrake cable and linkages a good greasing...and the brake pipes while you're at it.
Don't Alko use their own complete rear axles on some of these motorhomes, used to deliver chassis cabs there, two cabs and short chassis bolted together cabs back to back like a push me pull you...interesting delivery prospect as they had no handbrake at all, but you could leave both vehicles in gear...many straps and chocks used delivering them..;)
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