The intermediate shaft is a common problem on many GM cars/trucks.
I had mine replaced at the dealer for a 50$ deductible. Make sure they use the new updated part, it is made out of titanium.
The Yaw sensor I have no idea what that is, but wiki says. A yaw rate sensor is a gyroscopic device that measures a vehicle’s angular velocity around its vertical axis. The output is usually in degrees per second or radians per second. The angle between the vehicle's heading and vehicle actual movement direction is called slip angle, which is related to the yaw rate. The measurement is based on the Coriolis effect
I will assume it's the same as a speed sensor in the hubs?
My 2007 GT is doing this too, when it rains. Service TCS, service ABS, both lights staying on. I called up the dealer, explained the problem, and think I am getting lucky, it should be covered by the 5 yr. 100k warranty.
The speed sensor cannot be replaced, it's inside the hub, made into it.
Do a search for ABS, TCS, you will see how common this problem is, and you will understand how that system works better too.
If you know which hub needs to be replaced.(you need a special ABS scanner, or dealer visit) then you can do this yourself. It's just a few steps past replacing the brake rotor. You will find several how to's just searching through posts.
