my 06 has had the stabilitrack light intermittingly coming on since I purchased it 2 years ago. Lately when backing up, the truck occassionaly "shakes" & this weekend it has been hesitating after placing the gear in Drive. Also, when lightly applying pressure to brakes, there is a noise which sounds more like a "rubbing" sound, but only on occassion. Any thoughts, concerns or suggestions? My problem is I am not near home with 2 days of driving (1200 miles) before I am home.

rubbing and shakes kinda sounds like engine mounts, stibilitrac seems unrelated taking into acount its been doing it for a while. you will probably want to have someone hold the brake and shift back and forth into r and d. see if its rocking and if its going to hit anything

You need to upgrade the transfer case fluid to AutoTrac II (blue fluid only sold at GM dealers), change the tranny fluid to DEXTRON VI. That will fix the shudder and shake issue- that issues is AWD related and occurs and very low speeds, typically when turning. It is also a good time to change your front differential fluid (very easy).

The traction control can be many things, from sensors on the wheel bearings as a starting point. I would first update the drive train fluids as mentioned above and then see how the traction control system is working. Failure to update the fluids on your AWD SUV typically results in premature transmission failure. Updated the fluids makes your AWD system run great.