Brakes pulling can be a seized drum but a leaking axle seal could also be a bad wheel bearing. A bad wheel bearing with a leaking axle seal and pulling to that side while braking can lead to wear on the differential gears and axles.
Are the hubs hot to the touch after driving? If so then I would have a look at the differential just to be safe when repairing the drum or caliper.
Pulling brakes in the front may be a seized piston in the caliper. I have seen a rotor that looked like it could be a topographical map of the sea floor from continued braking on a seized caliper, yet my sisters suburban kept on driving?! Like a ROCK
Anyway have a wheel off on each point of concern and check the brakes. A drum shoe and a caliper brake pad both show wear about the same but any other issue will stand out. The axle seal will hang out if its bad and differential fluid will be present if the axle moves noticeably out of center. A bad wheel bearing will typically have the ball bearings trickling out of the axle shaft, if they are still in there
In any case pulling brakes are not safe to drive with since brake failure can be terribly unpredictable and dangerous. U joints can breakup with driveshafts, axles and wheels can disagree on which direction to rotate, or the truck will just dive right if your lucky or worst swerve left... All of which I drove through once just to skip towing to still afford home repairs. Not smart and now that I know the warning signs I would rather walk with my thumb out
Time to take off a wheel
FUN! or just get a whole
new axle assembly