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Did you ever get this fixed? Did the seafoam work?
If it is the ABS module, don't pay the $800+ the stealership wants to replace it, a buddy of mine had a similar problem in his Silverado and it turned out to be the ABS module. Went to pull-n-save and luckily they had a 2002 Yukon lying there pretty much stripped, but since the ABS module is underneath on the frame it was still there. Pulled it, he paid $80 bucks, installed it and never had an issue again.