Thanks for all the responses. I took the yukon to the GMC dealership in Woodbridge VA to reprogram the abs control module, after 2 weeks at the dealership, I get a call stating the module cannot be reprogrammed and it could be due to multiple issues; one being I've upgraded my radio with a Pioneer AVIC-7201NEX and that could be interfering with the programming and secondly my brake system isn't original. My wheels were upgraded to accommodate a wilwood big brake kit upgrade.
The dealership said they cannot complete the work request with the current brake system unless I change everything back to factory original so am back to looking for a shop that can assist with fixing a modified 2006 GMC Yukon Denali.
Only modifications are the big brake kit, wheel size, air intake and sound system.