Welcome to the forum. Worn bearings can cause all the issues you mentioned. Worn bearings will sometimes create a lot of 'metal-on-metal' sounds on their own, but in addition, the slop they'll have is often enough to allow the rotors to rub against the brake pads, causing the drag effects you describe. You can verify this by jacking the wheel off the ground (one side at a time is best), and trying to physically move it. It should have ZERO 'play" in it.
Also, by now, there is surely excessive wear on the pads and rotors too, from all the inadvertent contact.
80K isn't a lot of miles on the originals, but if you live on unpaved, or muddy roads, or drive through lots of standing water, this could account for the premature wear. And in such environments, also checking the bushings and shocks for wear is a good idea.
You didn't state as much, but "ESC" sounds like you have AWD? If so, the transaxles' CV joints should be checked too. Look for ripped rubber boots over the CV joints. Once they're torn open, the CV joint inside will often wear out quickly, and fail in less than 10K miles.