Agree, brake adjustment has nothing to with bearing maintenance, it's just most do it at the same time, while the wheel is off the ground.
Now back to original post, and forgive, just trying to understand. "brake hub locking up and twisting the hub off the axel shaft. Lippert came to our rescue and replaced both axels. " From this in post #1, to "These brakes were factory adjusted 2 years ago when LIPPERT REPLACED" in post #4. So you are saying that they somehow hauled or towed the trailer with a missing hub back to Lippert factory to replace the axles? Or, was it taken to the closet dealer. Can't imagine you towed it with a hub twisted off and a missing tire.
Now the question still remains, when was the last time the brakes were adjusted? Mileage on the camper doesn't matter. Please take no offense. Not trying to start anything, just wanting to help, but have to know some of the history.
Now one more question. Assuming you made it home, all is well. Have you hooked up to it and just went for a short tow? Have you tried to duplicate the event that caused the problem, holding foot on brake for a few minutes, then trying to drive off?
Again, please take no offense, the answer is not simple, and like a detective on a murder case, lot of questions, and few answers.
Oh, and I have read most every new post that comes on here for over 2 years, and don't remember anything like this. Also, I'm an ASE certified master auto tech, and part time RV tech, not that it makes me anybody, but I do have a little experience with RV brakes.
2012 Ford F250 ext. Cab 4x4
2002 Jeep Wrangler Sahara
2008 Yamaha V-Star 650 Classic
2008 Work and Play 18LT