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When replacing the caliper were you able to perform an ABS bleed on the system with a compatible scan tool?
It depends on which caliper you replaced, but on any GM truck newer than 2001 or so it's nearly impossible to get the system to bleed without using a scan tool to activate the bleed procedure on the ABS computer. Even then it can be a major pain to get it to bleed using the procedure sometimes.
We had one of our trucks in the shop last week that took 2 hours to get to bleed.
At this point how does the pedal feel? Squishy or normal? Does it drop slowly after pressing it firmly?
Do you have a scan tool to check for trouble codes and see what the computer thinks is happening?
Have you attempted to clear the codes by disconnecting the battery for 30 minutes?
You might try that and see how quickly the warnings come back on.
You may have to reset them with a scan tool in that case. Your yukon doesn't have the dual battery set up does it?
You may need to have it scanned at another shop to make sure it wasn't just an issue with the scan tool at the parts stores. Unless both came up with the exact same result.