If you stop just before you checked them I would say that is normal. If you could touch them at all just after a stop.
If a brake is dragging you could not touch it and you would most likely smell it as you got close.
Try driving 25 miles on open interstate and then coast and gear down to a stop without using the brakes except for the last little bit. Check them then. Having not used the brake you will get a better picture of the running conditions.
WBCCI 12156 AIR 3144 WACHUNG TAC NJ6
2004 Excursion 4x4
1991 34 ft. Excella +220,000 miles, new laminated flooring, new upholstery, new 3200 lbs axles