Yes it will work. The only difference is that the C3 and the Sierra Denali's had the the 4 panel opening for the Quadrasteer.
While the Yukon Denalis had the 2 panel opening.
Part # 15075113
It all depends if you have anything above the airbag turn off switch, if you do then you want the one from the C3 and Sierra Denali. If not the Yukon one will work.