The levers are just bolted to a rod via a 13mm nut. The rod that it twists is actually part of the caliper and would require much disassembly to remove.
There are 2 methods to free it up:
Method 1 - just work the lever back and forth in place.
a: Use the e-brake handle to pull it on.
b: Release e-brake handle
c: Use a tool of choice to manually move the caliper lever back to it's "released" position.
c2: You can use a 13mm wrench to rotate the rod/move the lever. Or use a pair of pliers to just grab and move it. Removing the wheel isn't necessary, but may be helpful.
d: continue this process (pull on with e-brake handle, release handle, force caliper level back with tools) until it can spring back fully on it's own.
Method 2 - remove the e-brake cable from the caliper
a: pull e-brake handle on
b: release e-brake handle
c: disconnect the cable from the lever at the caliper location
d: Use tools to work the caliper lever back and forth, from limit to limit. When finished it should be able to spring back on it's own very nicely.
For either method, lubing the rod where it twists with some WD-40 or PB blaster, etc, can be helpful. Also, for both methods, after it is freed up make sure to use the e-brake every day (or several times a day) to ensure it doesn't freeze up again for a while.
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