Take the vehicle to a nearby parts store and see if they can run the code for you. most of the time its the Wheel Bearing on the front wheels of the car. The sensor is built in so you would have to replace it as an assembly. Wheel bearings and sensor related problems have always been an issue with these types of GM cars. When you get the associate to pull the Anti-Lock codes on your vehicle look to see which wheel it brings up as a fault. To further diagnose it see if you can borrow the scan tool and the associate to drive the vehicle down the road with the scan tool on the Data menu, in Anti-Lock Brakes menu. This will bring up the four wheel speed sensors as well as the transmission speed sensor. Compare the speed as you travel down the road and watch for any glitches or slower speed at one of the wheels. Dont be alarmed if the speeds are different while making a turn this is because the wheels do not travel at the same speed while turning. After you find the culprit you may replace the part as necessary.
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