Need help please 2003 yukon denali

I have a 2003 yukon denali with the stability system and usually during winters when the truck slides the stability system kicks in and makes a grinding nose which it is suppose to do to get you back on track. Well the last month during turns my truck is making that same nose and it almost seems as if something is rubbing or getting stuck while making turns and during this the service stability system warning comes on. Is this common when stability systems needs service or is it something more severe? And if so how much does it cost do have this system fixed. I bought this truck brand new in 2003 and this is the first problem I ever encountered and I am very concerned will somebody please help me out. Thanks in advance

I am also having this same problem and no shops can figure it out. So if you do please let me know.