So I had both a '91 4-door 4wd GMC Jimmy, and a '94 4-door AWD Olds Bravada.
The only difference between the two in drive train is the transfer case. Everything else is built like our trucks.
Both had the same turning radius, and the Bravada actually got a lot better MPG than the Jimmy. The Jimmy would get 18MPG highway at best, and the Bravada would get 19MPG in the city at worst, and normally got 21 MPG. It was a great winter SUV. Drove through bumper high snow to get to work one winter like it wasn't there.
Back on topic, I haven't driven a Denali, but I never felt like my '00 Yukon XL was hard to get into any place, or didn't turn tight enough.
...but that could have something to do with the fact that I learned how to drive in a '94 Chevy Suburban.
The difference between a pitman arm and a rack and pinion setup. However, the turning radius is actually smaller for the GMT800s but effort/feel is the opposite.
My 2000 Yukon XL is rack and pinion. IIRC, they switched to rack and pinion when they went from the square body to the OBS body style.