If your Tahoe came from the factory and was originally built with the navigation unit in the vehicle then yes, theoretically you should have a VSS wire already ran to the radio.
I am not sure exactly what your setup looks like, or how the previous owner hooked up the system, but I do know that the VSS wire at the back of the factory radio is probably green and is plugged into (I think) a brown connector. That is assuming of course the original owner kept the factory connections when installing a different radio.
If it did not come originally from the factory with a navigation unit built in, then yes you must tap into the VSS wire. There are kits you can buy
HERE
These are the directions someone who is setting up a navigation unit in their Tahoe for the first time would follow. This is assuming again that the original connections are still a factor in your radio setup. I have provided directions below simply for reference. Please note that these are not my own personal directions, but rather info I have collected elsewhere.
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You will take the wire from the vss kit. It will be the one with the brown connector and green wire. Under the dash on the drivers side near the parking brake, you will see a black plastic cover. Remove this cover and you will see a wire terminal box. At the top of the terminal box you will see a clip on each side. Squeeze them together and pull the box towards you. Lift up and gently turn the wire terminal box around. Remove the 2 connectors as shown in the picture to easily flip the box around. On the right side is where the vss wire is located. Carefully cut the wire-tie to see the wires more easily. Locate a green with a white striped wire. The green wire from the VSS Kit brown connector has to be spliced into that green and white striped wire. Run this wire back to the radio so that the brown plug is there.
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I know that's a lot of information, but I think that may be what you are looking for. I hope that helps. It really all depends on how the wiring was done prior to you purchasing the vehicle. Good luck!!