Have you ever replaced the brake caliper seals?
At the very least, take the bike for a ride, maybe to 50 MPH, then stop with the rear brake only. Now feel the front rotors, they should be cool-cold. If their hot, their dragging and need servicing.
Do the same for the rear, stop with the fronts, then feel the rear rotor, same thing.
With time, miles, etc, the rubber seals harden up, pistons don't retract and the brakes will drag. Bad enough, they'll turn your rotors blue.
BTW, Yamaha recommends replacement every TWO YEARS. I've found 4-5 years in real life. That's on both my
FZ and last 2004 FJR (same front calipers), S2.