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I highly doubt the calipers are frozen. When most calipers "freeze" up it is a floating or sliding style caliper and it is actually the mounting hardware that seizes up. The only time I have seen caliper pistons lock up is with cast iron calipers where moisture built up inside the caliper and rusted the inside.
The brembos have neither of these issues. They are 4 piston calipers that have no slides or floating pins to seize up. They also will not rust or corrode in place due to the heavy coatings on the inside and the fact that they are an aluminum composite.
Is there a noticeable difference in brake pedal effort with the car off and car running? Also I would take a measurement of manifold vacuum just to make sure you are making enough vacuum to properly operate the booster. If you never opened the brake hydraulic system, my bet is a booster or vacuum issue, especially if the pedal is firm and doesn't drop to the floor.
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