Answer: You will be able to prune them back to reduce legginess but you should wait for spring. The reason for this is that pruning will stimulate new growth and it won't have time to "harden" before winter. As they resprout, tip prune them as needed to cause branching, but again, stop pruning in mid summer. Also, later pruning will of course remove flower buds.
I would be somewhat concerned about the browning foliage. You might want to take a sample to your County Extension (489-4315) and find out what caused it because it might be a disease problem exacerbated by the drought rather than simply drought damage.
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