If the check engine light is on, the code would help
Parts stores will check for free

 

Thank Roy, no check engine lights. Also sent you a direct message with more detail. Thanks.

 

Here is that message answer:

https://www.gmtruckclub.com/conversations/2004-abs-and-traction-control-lights-on.84475/unread

 

Requested message can't be found. So, no info for us peasants. 🥲

 

Oh, the peasants can't read it, how about that, let me see if I can copy it..

Steering wheel noise is normal when wheel is pulled hard to left, or right lock, I think it's a releasing internal pressure valve.

Mine truck has had a similar problem; but the key off, then back no, usually cleared it for a while.

It was a faulty throttle position sensor on the throttle body.

An easy and cheap ($30.00) fix; but there was a code that pointed in the direction.

 

04 Denali may have integrated TPS, my lord.

 

If you haven't resolved this issue already, turn the Traction Control System off at the little panelon the upper left corner of your dashboard. It may not stop the annoying lights and warnings on startup, but once you turn the system OFF, it will allow the sheels and brakes to work without interference from the electronic control computers. I had to do this on my '05 Suburban LT so stop the stumbling on takeoff. Turning the system off will not affect your braking in most conditions and situations. At most the ABS won't pulsate your pads. Just drive it normally.

 

Check the Brake Peddle Switch. My 2009 Yukon had the same messages and the brake switch cured them all. Brake switches do more than just turn on the brake lights these days.