Can you check rear brake pads on 2015 ford ranger without removing wheel

did the pads have a shiny glaze? If so, use sand paper or emery cloth to remove the glaze. Maybe you have a problem with wheel bearing?

Use the correct tool which in this case is the cube. If you have not brakes before, perhaps this may not be a task you should undertake. In correctly done and you may not have brakes.
https://www.paulstravelpictures.com/2013-2016-Ford-Escape-Rear-Disc-Brake-Pads-Replacement-Guide/index.html

brake slip air in line. , weak shocks, lose bushes,shock mount, leaking brake fluid or contaminated disc or pads.

A drum brake shoe lining may have become separated from the metal pad that holds it in place and will cause the wheel to lock. The only repair necessary is to replace the brake linings with new ones. The loose piece of brake lining, if this is the cause, will not likely cause any difficulty removing the drum.

check brake pads...most have a squealer built in to let you know when pads need replace

check your brake hoses, might be collapsed and need replaced.

I describe this for a Ranger, but it is similar for your machine
It is pretty straight forward. The Ranger has front disc brakes.
If possible spray everything with brake cleaner to reduce asbestos dust as you work on the brakes. Best not to breathe in any of the nasty debris on the brakes and caliper. If I have them I wear nitril gloves for less mess on the hands.
Take the wheel off. The caliper holds the brake pads. On mine it is two large allen bolts at the inside of the caliper to take it off. You don't have to remove both allen bolts--take off one and then loosen the other. The caliper can then be rotated off the rotor. Now you can remove the rotor--it may have a screw holding it on still--remove that and pull it off the wheel hub.(Sometimes they can be stuck on, but they pretty much are just hanging onto the wheel hub studs) Do one at a time and then if you have any issues, look at the other one. The brake pads themselves kind of snap into place in the caliper. Remove the old ones noting any orientation issues and any shims--some of them come with thin plate shims that fit behind them. When you are ready to replace the pads, you need to use a clamp to drive the caliper piston back so that the pads on the cliper will fit onto the new rotor when they are rotated back. Make sure the bolts on the caliper are tight.
You may want to have the rotors turned--machined flat again--or buy new ones--you can always turn your old ones for next time too.
There rear are less essential since most of the stopping is from the front--let me know if this helps- to push my rating u

sounds like you need to replace the wheel cylinders also check brake shoes and adjust properly upon reassembly

need to get the truck on jack stands remove the wheels and if the truck has drums you maybe able to use some PB blast because the brake cables are rusted for the emergency brakes and at the same time you can check out the condition of your shoes or pads if you get any oil on the shoes or pads use brake cleaner to clean them off

It could be a couple of things..Either you have a fluid leak and its getting on the brake pads making them grab or it could be the abs system itself.. There is a speed sensor on the rear axle which also controls the abs.. That can be changed easily and isnt too expensive.. Kip