You most likely have a hose that is collapsing and causing a check valve situation - holding pressure at the caliper.
Or, you have a caliper that isn't retracting when it gets warmed up - sticking piston. It could also be caliper slides, etc.
Another option I can see is that the master cylinder is overfilled and when the engine bay warms up, the fluid expands and has nowhere to go, so it pushes on the calipers.
There is a possibility the ABS module is holding pressure on a circuit for some reason as well. Have you tried unplugging the ABS to see if that changes anything? Or, you can try a couple ABS stops on a slippery surface and see how it acts afterwards.
Or, you have a caliper that isn't retracting when it gets warmed up - sticking piston. It could also be caliper slides, etc.
Another option I can see is that the master cylinder is overfilled and when the engine bay warms up, the fluid expands and has nowhere to go, so it pushes on the calipers.
There is a possibility the ABS module is holding pressure on a circuit for some reason as well. Have you tried unplugging the ABS to see if that changes anything? Or, you can try a couple ABS stops on a slippery surface and see how it acts afterwards.