If you are on a budget or just like to spend economically like me, there is the option of acquiring a salvaged ABS module via eBay or your local recycler. Pennies on the dollar repair.
2 things to consider:
1) used parts are a gamble. No big deal, if it doesn't work eBay sellers will either refund your money or send another replacement. Local junkyards will also warranty the parts for 30-days or but make sure they have at least 1 or 2 more trucks with the part in question. something like an ABS module would be compatible across multiple models. Being your truck is a Denali, get on RockAuto or similar to find if the base models use the same part number, which MYs share the same part and so forth. Not only to make sure you get the correct part but also for a wider selection to scavenge from.
2) disconnecting the ABS module allows air into the brake lines and you will need a piece of hardware to bleed the replacement module by activating the cylinders electronically. There are hacks around it as in pulsing the ABS pump relay but you will have your hands full researching the module so I would opt for the tool. Depends how handy you are with auto, or have the time to google search your way into the manual module bleed. You can get the proper tool for around $200 and it will pay for itself, especially after the 2nd time you use it to diagnose the next issue.
After you purge the replacement module, the calipers will still need to be bled following that. But don't begin with the closest caliper like some fool did in a YouTube video I just watched about using a vacuum kit. Always start with the farthest and work your way up; can't go wrong. And if you do all of this yourself, please flush the brake fluid entirely and replenish the entire volume with brand new fluid. No point in half assing it