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I'm going to assume that the Yukon is a 4X4, and will therefore also assume that the clicking noise is coming from one of the two drive axles (likely the right side). Check under the truck near the wheels and you will see the drive axles with a rubber bellows boot on either end. It is likely that the boot closest to the wheel has torn and allowed the grease to escape the constant velocity (CV) joint. The boot or possibly the axle will have to be replaced.
You have torque bind. It is caused by driving on pavement in 4wd. 4wd is only supposed to be used on a slippery or loose surface. You'll need to try backing up for a few feet and then shifting it out. If that does not work, you'll need to get a jack and raise one end of the truck off the ground so that the axles can "unwind" and release the torque in the drive train.