Opinions are all over the place here, which would tell me this is an internet forum with lots of passionate people on either side of the issue. I read between the lines on a few posts and wonder whether the trucks have been put away wet a few times, though I concede the best-built trucks are more tolerant of that than the worst.
There's not a ton of powertrain evolution between the last 2 generations on the 5.3, so I'd discount any advice that sounds like "what you really need is one of the older ones" unless you're after a 6.2 or you are concerned about the 3rd row seat mechanism. The issue with the steering is unfortunate; I'm happy mine doesn't seem to be afflicted.
The Consumer Reports study is suspect because they list the Tahoe/Yukon, the Suburban/Yukon XL, and the Escalade as three separate vehicles each making its own poor showing and each occupying its own space on the bad list. It seems like any rigorous testing organization would conclude that all of those are mechanically equivalent or near enough, and combine them for results purposes. The treatment they did provide smacks of quid-pro-quo.
You have to go in with your eyes open. If you set aside the recent CR article, the reviews of these trucks are widely positive - particularly from JD Power.
Here's the 2016 Tahoe page - all scores pegged to the wall.