Driving with parking brake engaged

My wife drove my 1971 Duster home tonight on the freeway (about 25 miles). When we stopped at the exit I noticed a smell and asked her if she disengaged the parking brake. She hadn’t. Now I’m wondering how much damage may have been done and what I should look for to identify the damage. Should I take it in for an inspection, or just keep driving and watch (and listen) for something unusual?