touching is the flaw of floating calipers.
However, wheels should still spin, but consider you're turning the transmission at the same time.
Its not your ABS or MC, they don't apply any force when the vehicle is off.
Take the sliders out, clean out the hole, install with new brake grease.
Also try to compress caliper, if this isn't possible the caliper may be seized.
E-brake is needed for a safety.
I'd pull the rear rotor to make sure nothing is scraping against the inner hat.
Also, check dust shields.
Sometimes they get bent and rub against the rotors.
