It does still “crawl” when in drive and no acceleration appliedWell it would wouldn't it .
I'll word it differently for the infidels.
Try putting the car into drive on a flat road and see if the car will move off in drive with little revs or does it hold and creak , even doing this won't be conclusive as your rear caliper could be sticking. Get it up in the air and spin the wheels ,as per instructions. Remove the rear pads, if the wheel still won't turn then yes it's handbrake related.