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It's a common problem on cars with rear disc brakes. Drums are much better suited to being left on for long periods. Some car designs even have additional drums purely for the handbrake, so that the discs can be used for normal braking only. As far as I'm aware, Renault don't do this on any of their models.
On the Mazda that I used to have, seized rear calipers were a very common problem on the ABS variants (non-ABS models had rear drums.) I used to get a severe clunk from the rear brakes of the old Laguna sometimes when it hadn't been driven for a few days. I haven't had it happen on this one yet.
The best way to avoid it is to leave the handbrake off if you're going to leave the car for more than a few hours. In an auto, leaving it in Park will lock the drive securely anyway. With a manual, leaving it in a low gear should do the same, though personally I wouldn't trust it on a gradient.
Currently in Horatio's garage:
2010 Laguna III Initiale.