Welcome to the forum from Oregon
@Fless he said in first post was a 2007 GMC XL Denali but was in the wrong section. Like has been said by
@wjburken and
@Bill 1960 said, complete codes are needed.
Also been said, the front likely has a bad hub bearing or two and when replace, for the love of God, don't go cheap. get Timken or AC Delco. May also just have some wires/connectors causing the problems at those wheel speed connections. If you have no idea on the age of the plugs and wires you again can get some good quality AC Delco parts for that but the plugs may look great. Pull one or two on each side and post pics here for recommendations. You will get there eventually with the fix on these problems.
May end up with one of these too.
https://www.rockauto.com/en/moreinfo.php?pk=993793&cc=1433459&jsn=2045