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Because rear brakes don’t steer and because in many older vehicles - the rear brakes are drum style brakes. Making it simpler (meaning less expensive) to hook a hand cable up to them to hold them activated.

Note: they don’t HAVE to be on the rear. Some cars do have them on the front and some even have them on the driveshaft itself. Historically, it’s always just been easier for manufacturers to connect to the rear wheels.

Simple as that.

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