As stated above, if you can drive that pickup truck, then driving either Yukon or Yukon XL will be much easier. I've owned both, and I much prefer the XL, as it provide more flexibility. We know nothing about your family or daily living/activities situation, but if you have a dog(s), or like the outdoors such as camping, or occasionally need to load more than 5 people into a vehicle, or if you have home projects that periodically require transporting sheets of plywood or sheetrock, then the XL is for you.
You will enjoy either one.