Mine failed while I was driving the truck, but not at the wheel cylinders or calipers. For whatever reason, it failed where the hard line on the left rear wheel went into the splitter block on the rear axle housing.
I'm not saying that's where yours failed, I'm just saying the hydraulic system could fail just about anywhere. I'd put some more fluid in it, and park in on cement, then see where wet spots show up.
I'm assuming you didn't notice any wet spots after it lost it's fluid. Was it parked on grass or dirt, where it would have been hard to see?
81 F150 Flareside, Edelbrock Pro Flow4 FI, hydraulic roller 351W, E4OD, 4x4, BW1356
92 F150 RCLB 351W E40D BW1356 mostly stock