Welcome to the forum from Oregon. I arrived here in Oregon 23 years ago and had a 1996 2 door 4wd Tahoe at the time. I wanted to go four wheeling. I soon found out that these rigs were ok for light stuff and just getting out on smooth trails in the forests around here. To do what I wanted to do I bought a rough old 1973 Blazer and threw money at it. I had a roll cage, 6" lift, 38" Swamper tires, Detroit locker in the rear 14 bolt full float axle and a Detroit locker in the Dana 60 front axle. I had a special power steering assist hydraulic system for maneuvering in tight places. I had an all aluminum 4 row radiator with electric fans with a Stroked small block 350 chevy engine that was a 383 with special pistons and a Holley 4 barrel carb that had special kits in it that allowed for very off kilter wheeling. I trailered to the Tillamook forest and went to Moab with it and had a great time.
The point I am trying to make is that if you want to wheel it is best to have a purpose built rig. Otherwise you will keep doing damage to your Denali. My rig was rattle can black painted and went by the name "Brutus". That rig was always the one called on to come get people out of being stuck. I had a Warn winch that I could swap and use at either end of my rig.
You want to four wheel, get the money out and go for it.