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Stickin throttle
The issue with the sticking throttle is called "coking" and it's a common occurance with "our" model Yukon, it's a result of carbon collection inside the throttle body in the area of the butterfly.
I agree, it's annoying, but I don't believe it's dangerous except perhaps to an inexperienced driver.
It's a simple process to clean it with an appropriate throttle body cleaner, just be careful not to allow any foreign material to enter the plenum chamber.
If you aren't comfortable doing this yourself, it's a reasonably priced operation @ your dealer or preferred mechanics shop.
In so far as the pedal noise, I can only assume it's a dry/worn pivot point in some of the pedal linkage or perhaps an issue with the vaccum booster entry point.
Hope this helps you resolve.....
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