You can learn technical rook endgames using any good endgame book, but what I am going to share is based on my experience and little reading. If you deploy following points while playing rook endgame it will definitely help you.
An active rook is your hero: Rooks love to attack in the endgame. Here are two simple examples which will help you to understand what I mean by that.:
With these examples I am not claiming that an active rook will always secure you a win or draw a pawn down, but it will definitely provide you better chances to win or defend in worse conditions.
In order to keep your rook active you should know the Tarrasch Rule which is to place rooks behind the passed pawn, whether it is your passed pawn or your opponent’s.
Cutting off the enemy king: This can happen a lot in practice and often decides games (a very useful tool to obtain lucena position!)
In this position Rd1!! is a forced win for White and no other move will do. Here the Black king is cut off by a file, and if you want to check how effective a rook is when it cuts off enemy king along a rank, please study the Philidor position.
Rook works well when weaknesses are fixed rather than mobile, something I have learned by studying Capablanca’s rook endgames. And in order to target those weaknesses you must have an entry point into the enemy camp. You can do that by working hard!!