I've had this problem since I bought my truck a couple years ago at about 183,000 miles. Now it has over 208,000 miles. I also have rear air suspension. I usually get this bump/clunk in the mornings, especially when it's cold outside, as the airbags inflate to raise the truck. Sometimes, the sticking is bad enough to keep tension on the driveline until about a quarter to half mile away at the first stop light, where it finally releases. I've read before about how greasing the yoke would fix the issue, and was thinking about taking care of it soon for a relatively cheap fix. But, now I find this thread and read that the grease may not help much after all. Bummer....
It's good to hear GM has a fix for it, even if it is expensive. I wonder if the repair would be considered warranty work and covered for my truck, considering its age and the miles on it....

I don't have any extended warranties on it, though (bought it as-is).
If not, does anyone have any advise on doing the work myself (assuming the parts are available)?