I found the problem during an inspection at another shop.
I drove to the dealer, they had an opening in the shop tomorrow, so I decided to just leave it there tonight since it was more convenient than driving it back there tomorrow morning.
The dealer is fixing it under an extended warranty I bought. I'm glad at this point that the warranty I bought was one of the GM warranties and not some third party warranty... this is because I am no longer near the dealer where I bought the truck, I relocated. BUT, I still get back there with the truck on occasion and cash in on my free lifetime LOF!!
Portions of the steering system are non-lube parts, and that's why they fail. I guess it's not uncommon.