Yes, its possible your back brakes need to be set-up. Back brakes provide 30% of your stopping force, when properly adjusted. It is common for drum brake star-wheel adjusters to be frozen and not keeping the rear brakes adjusted properly. Manually adjust them if necessary or if the owner's manual "go fast in reverse and brake strongly" every week or so isn't working. I know you said the rears have been adjusted, but maybe they weren't working properly before.
As far as the rotors go, unless you are panic braking while towing, the rotors shouldn't warp. As I've said before, brake jobs are a bit of a scam in that the shop will always turn the rotors every time they install new pads. Every time the rotors are turned they get thinner and more prone to warping. So, they turn them, they warp more easily, they turn them again, they warp even more easily and so on until the rotors are thinner than the manufacturer's minimum thickness and you have to buy new rotors. Yes, they'll tell you that they mic them and there still within spec, but think about it for a minute; they're warped right? That means when they turn them they are no longer uniform in thickness. When it isn't uniform thickness anymore, it heats up and warps much more easily than before.
I have a small fleet of trucks now and no longer have the time, but when I was younger, I simply would put new rotors on and just keep and eye on the pads and replace them myself when necessary. Sure, it would take a little while for the new pads to wear in to the grooves in the rotor, but my rotors seldom warped. It's a heck of alot cheaper to replace pads every so often than it is to pay for pads, calipers, rotor machining etc. etc. Brake pads were maybe $75. 00 compared to the full blown brake job at several hundred dollars.
If I were you I'd forget turning the rotors and buy new ones (if OEM rotors aren't too much $, they'd be a safe bet) and then follow the above procedure. Make sure your driving habits aren't contributing to the problem. Never ride the brake. Brake when you need to and then let off to let them cool down, especially towing loads downhill.
Some vehicles just had rotors that were too small or too thin and they warped easily. Ford F-150's and Explorers are among the worst offenders. Most 3/4ton trucks have big enough rotors to hold up.
Sorry for the long post,
Hope this helps,
Dave