Your parking brake may be OK.
I suggest you try this first before tearing off the brakes. Put the parking brake on before the transmission is shifted into park. If this is not done, the truck may move enough between park and the application of the parking brake to put pressure on the park mechanism in the transmission.
Most people shift into park with their foot on the brake. Then they use their brake foot to press the parking brake. That's one reason I like the hand parking brakes.
By putting the parking brake on first no movement should happen, providing of course that it is properly adjusted.