I did exactly what Magicbus suggested. After doing quite a bit of research, I decided to replace the Head Unit with a Kenwood CDX-7097 with bluetooth in my 2001 Yukon XL. I then replaced all four door speakers with Kicker 6.5's. When I purchased the HU from Crutchfield, they sold me the unit that allows you to maintain the Onstar and factory amp (OEM1 and OS1 modules). After getting all of that connected, the system developed an engine whine through the speakers. This was just a little frustrating, so I decided to remove the modules since I could care less about Onstar anyway and was just trying to maintain factory equipment. Once removing the modules, the engine whine was gone, but then I also lost the ability to balance the stereo from left to right due to the factory amp setup.
The end result was that I decided to bypass the amp and just ran speaker wire from the back of the HU to the area behind the glove box. I pushed in on the right side of the glove box and it opens all the way up exposing the factory amp. It had two plugs, a small on top and a large one on the bottom. Once I was able to get the bottom plug out (somewhat difficult), I found the wires that Magicbus decribes, cut two of them and tested them with a AA battery. Once I discovered where they were, the other speakers were right beside them. I shot a few photos and will post once I get them off of my phone. Once complete, I plugged the bottom plug back up and buttoned everything up so the speaker wires wouldn't come in contact with the glove box and I can say that is sounds 20 times better than the factory unit did. My next plan is to add a 10" subwoofer under the second row bench to get that little bit of bass the system needs. The factory amp is out of it now, and I couldn't be happier.