Hi,
I had exact same issue with my 2018 Dominar & it started after first service in which service guy adjusted the rear break lever play ( without telling me ) . Immediately after 1st service , i went to ladakh ( Cold temperature so oil do not expand much ) & on my way back to Maharashtra it jammed in the exact manner you described on the Agra Expressway .
Changed complete rear break assembly along with the disc & caliper but again same issue .
A mechanic of bajaj service center ( Patni Bajaj Nagpur ) rectified the problem after it sis running problem free so i suggest you should check the nut which adjust the play of the break lever .



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