Definitely in the wrong section but on my 2000 suburban I had an issue where my ABS and traction control light was on - did a brake job and the wheel speed sensors had a load of grease on them from the bearing being bad - I took them out and cleaned them and worked fine ever since. If you look at your top a-arm follow that wire harness down to where it is attached to the brake shield and I believe there is one small screw holing it in. Take out and clean and see if that helps. if not you will need to replace them. Be careful if you drive like that mine did not want to stop at low speeds.
Yours may be a lot different then being it was a 2000 and yours is an '06 but it sounds like the same issue.