Yes you can, (the rotors,) the pads and caliper, (with bracket for that caliper) on the rears is all you need.
Don't buy that detroit axle kit. If you are buying new front brakes: there is the NNBS front brake upgrade. Very little price difference if you are buying the components anyways. For the fronts, its a larger rotor a dual piston caliper vs your factory single piston, and a much larger pad. If you really want to go all out there is the 2020+ 4 piston caliper. Which is always great, but still about 2-3 times as much, and kind of overkill for most people.
The NNBS brakes started in 2005, but had a design change in 2007 for the NNBS. If you get new brakes the 2005-2019 (order 2008 and higher) will fit right on. You just need 17" wheels for them to fit. The 4 piston needs 18" and not all fit easily.
For diy front brakes look here: http://www.tahoeyukonforum.com/forum/showthread.php?t=13126 DIY REAR BRAKES Tools: 14mm short socket 18mm short socket (or long 18mm box end wrench) 19mm open end 6" C clamp Propane/MAPP Torch (only if removing rear rotors/adjusting parking brake) Wheel...
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