It's usually the motors on the rear calipers that fail.
The plastic body cracks then lets in water & crud & they eventually seize.
The motor is held on with 2 torx screws to the caliper but are quite expensive for new ones.
The new ones are better designed ( fitted from 2008 ) & don't usually break.
Once you remove the motor you can wind the handbrake screw out so the car can be driven again & as you say, leave it in gear when parked as a temporary measure.
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