Thanks for all the responses. Here's what has transpired the last few days. I did end up putting the charger on trickle (2A) for about 24 hours. Battery seemed fully charged after 24 hrs with no current draw on the battery charger. We drove the Yukon yesterday, put about a 110+ miles on it with no problems. Several starts in the span of 6 hours. Got home last night, installed my GM floors mats which involved having the doors open and running the second row and back row electric seats several times. I knew there would be battery draw with all that but figured it wouldn't 'normally' affect a good battery. Went out this morning, no start, battery not completely dead, but not enough to kick over the motor, this is the 3.0 diesel so it may need a little oomph because of the high compression.
Anyway, I have read about the possible OTA battery related issues. One suggestion was to remove the ground cable from the battery to let some of the electronics reset in case there was something hung up. So, I decided to do that this morning and redo the battery charging. One thing I noticed is that the negative battery cable seemed a little on the loose side, not exactly loose, but the nut required little to no torque to loosen. The post didn't look as clean as it could be, so I went ahead and cleaned it and reinstalled the cable and torqued it more appropriately. Now have the battery charger on it and we'll see what happens.
One thing I noticed was that the initial current draw on the charger was much less this time than it was before. Also was thinking if the vehicle sat for any length of time, like in the Midlothian holding lot, it may have been a little ******* the battery (I'm sure it was disconnected). That made me wonder if when they reconnected the battery at that point, they didn't torque it correctly and, also, if it sat without the cable connected, it may have given the lead post some opportunity to build-up a small amount of corrosion.
I'll report back on how things work out from here. Obviously if these latest efforts don't result in a positive result we'll be headed to the dealer.