I just dealt with this a few months ago and it isn't purty. Unless, you are one of the lucky ones. Underneath the drivers door, under the truck on a cross brace for the frame you will find the ground wire for the Electronic Brake Control Module (EBCM). Make sure that is clean, remove the wires, wire-brush the frame area and clean everything, wires, bolt everything, then reassemble. This takes like 15 minutes. Some of the ABS issues can be caused by grounding OR connections to the module. Also make sure the connectors on the EBCM are seated properly, remove and clean and plug them back in. The unit is located under the truck on the inside frame rail beneath the driver's seat area.
Also, does your ABS light come on at start up, or after you have been driving? If it is there at start up you may have some type of connection problem. Mine would clear after a couple of start cycles, but then would return after driving or applying the brakes. Mine turned out to be the EBCM unit and valve.....$2200 at the dealership... I will say that the dealership spent a lot of time checking ALL of the connections (at no cost to me) to make sure that it was the EBCM.
You can save a ton of money if you order the parts from a place like GMPARTSDIRECT. Even if you let the dealership do the install the savings on parts will just about pay for the labor. There is a huge markup on these parts from GM. If you can do this work yourself, then you can save about 400 bucks in labor. Good luck.
Jeff
"But officer, I ain't Speedin', I'm just flyin' low"
2001 Silverado 3500 Dually LS Ext Cab, 6.6L Diesel, Banks Stinger Kit, 4" Exhaust, VR Straps, Bilstein shocks, 255/85/16 BFG KM2s
2004 Suburban 2500 LT 6.0L 4x4, Bilstein Shocks, Federico front/rear sway bars
1996 Caprice 5.7L LT1, B4U Suspension, KYB shocks & Hotchkis sway bars, BMR RCA - alas I miss ya.
2013 Caprice PPV 6.0L