2001 Chrysler Town and Country parking brakes

Best left to a professional.

Do you have rear disc or drum brakes? What makes you think there's a problem with the parking brake?

I would suspect you don't need new parking brake shoes. They usually last the life of the car unless the linings rust off.

If a cable is sticking, the shoes might not be fully retracted. You could be hearing them contact the rotating drum. If the red "Brake" light is on while moving, the anti-lock system will be disabled and the yellow warning light will be turned on.

There's a toothed tone ring and a sensor by each rear wheel, but my guess is the parking brake did not damage any ABS parts.

Caradiodoc