At what mileage was your car bought new? If it had 18 miles on the odometer when you bought it the warranty is good until 36,018 miles. If it was 200 miles when you bought it the warranty is good until 36,200 miles.
Check your reciept from when the car was bought new. Too bad you could have called the dealer and told them it just came on when it did and say you were out of town so it would be slightly over 36,000 by the time you got into the dealership.
Anyhow, if it comes on again, get the code (make sure the guy that scans it gives you the code #), post it here on BC, and no doubt one of the techies will help you out with the part # or if the problem can be fixed without spending money.
Also, if you intend to do the work yourself (an o2 sensor is very easy to change -like a spark plug) get the part # and go to www.gmpartsdirect.com and get up to 60% off the dealer price.

doesnt work here. i talked to my new auto guy i have. he said its going to be the O2 sensor and probably over the weekend him and I will replace it. if it does put back up ill get the code from my tech and post it. i was telling him about the intermediate shaft thing... he said if you are driving in a parking lot or wherever and make a hard R or L and there is popping or clicking that my CV-joints are bad. i dunno. i just hope this thing stays off once i change the sensor.

Be sure to only let the gas nozzle fill it up once. Don't over fill it. No point to anyways, you're never gonna run it that low. 00+ have had issues in the past with this messing up with the gas cap, etc.

Hi, I have an '02 SSEI, but there was a recall for the fuel tank pressure sensor on my car, not sure about the SE or SLE'* but that will definitely set SES light even once you clear it, it will return. Call your dealer to see about recall info on your VIN.

my Mechanic said that its common at 36000 that factorys set the SES to turn on due to the O2 sensor which needs to be check, so im going to do that this coming weekend *pay day and free time*. it hasnt came back on yet!

Mine never set this. 02 sensors should be good for about 30-50k miles however they are considered a consumable part and wont be under warranty anyway.

Actually, ours and all other 4 wire heated O2'* are engineered to last to 100,000 miles. No car manufacturers to my knowledge pre program a mileage to set any SES lights. This would not be a very assuring thing to do to the general public. The SES light will come on if the PCM detects something out of its predetermined range is working incorrectly.

Actually quite a few manufactures set SES lights for mileage sensitve checkups such as trans fluid changes etc...