It probably wasn't on that tight if you could still drive. They probably got hot but not too bad. The "damage" was probably done when you got home and left the brake on. This can cause the shoes to transfer excessive material to the drums. (brakes work when the brake material is transferred to the drums/rotors) This excess material can be sanded off to minimize a pulsing and grabbing.
My rear brakes get tight when wheeling (mine is a manual and I use the hand brake to help on obstacles) I have driven from trails and when applying the brakes it would pulse like crazy. Mine was due to the drums being hot, so hot that I could smell them. Once I loosen the shoes, it brakes fine. I have sanded my drums to remove the glazing from the heat. They are still fine.
IF you really roasted, which you should have noticed that the vehicle didn't want to move, you could cause the shoes to crack and/or de-laminate from the steel backings.