Hello
Welcome to the GS911 forum
At first, no access to fault code 24153, I have no discription yet.
Sticking rear brakes after driving:
I would look for the rear master cylinder. Adjustment of the brake lever and pin.
Than remove the rubber sleeve of the cylinder and look for dirt, maybe the piston don't walk to end position.
This will state the high pressure in rear circuit.
Hope this will help.