They are different but they will all "work." The Tahoe and Yukon SLT door panels are all rubber, the Yukon Denali door panels have leather on the arm rest and above, the Escalade door panels have leather on the arm rest above and below depending on the year. The early door panels (2007-2009) have a much better design as far as strength but they do stick out more so if you need that space to spread out that is something to think about. You cannot use Escalade door panels on a Tahoe or Yukon unless you don't care about losing your heated/ventilated seat buttons. Those are on the HVAC control on an Escalade and not on the door panels like a Tahoe or Yukon and the holes for the inside door handles are physically smaller (for sure on the passenger door panel, I never bothered to measure the driver door panel but it might accept the Tahoe/Yukon handle).
If you want to swap to the 2007-2009 panels, you will need new switch bezels which are all discontinued now so I found the cheapest ones I could find and am having them painted satin black, and you will need to replace the threaded plate that the 10mm bolts below the door handle go into with the j-clips from the early ones as well (no one mentions this that I've seen) since the metal plate stick out and the early door panel doesn't have clearance for it like the later does. I literally just did this conversion on my 12 but my switch bezels are still in paint.