I have a 99 Yukon. Had the same problem. I took the door panel off and discovered that the door handle has a spring attached that appeared to degrade. Bottom line is I changed the entire handle, not too expensive, and it now works fine.
You will have to remove the door panel. It is likely the metal rod inside from latch to handle is jarred or fell off. The panel will pry off if you remove all the screws in the door panel and remove lock and window controls.
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