I picked the Yukon back up not all that long ago.
As per the paperwork, the dealership did the following: "Test drove, pulled codes- - all history. Cleaned battery cables, fuse block per #18NA161. Could not duplicate concern at this time."
I searched this TSB, and it is described as "#18-NA-161 - Steering Jerks Or Kicks Back / Reduced Power Steering Assist / Engine Stall / No Start / Service Stabilitrak / IPC / Radio / HVAC Goes Blank Various DTCs - (Oct 22, 2018)"
Apparently it affects all of these 2014-2019 models, including the GMC Yukon, GMC Sierra, Cadillac Escalade, Chevrolet Silverado, Chevrolet Tahoe, and Chevrolet Suburban.
I have read plenty and have seen plenty of videos of the jerking steering wheel, which has never happened to me. With the exception of the one 2018 Sierra owner, I have not heard anyone else complaining about having neutral in all gears, either. I can't say if this will do anything or not as they said they didn't find any corrosion or anything out of order on any of the connections. It would also be interesting to know if they checked that grounding stud on the dashboard. I assume if they go through a TSB they would do everything it suggests? Who knows, I wasn't there nor did I do the work.
One odd thing I noticed that I had not before, I was stopped and first in line at a red light, and the cross traffic was tripping my front parking sensors. Every time a car would drive by I would get the front parking sensors detecting their movement. This seem to only happen one time, shortly after I left the dealership. Do these sensors need to re-calibrate themselves after a disconnected battery by chance? I have never noticed it doing this any time in the past.