Brake pedal goes to the floor but I am not losing brake fluid
You may not be losing brake fluid, but you may lose your vehicle if you don’t get it repaired.
              
              
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          Have it towed to a shop to get it fixed or drive it to the scene o the accident.
              
              
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          +1 to all the above. A Yukon is rather a large vehicle to be driving without brakes.
              
              
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          That is the classic symptom of a bad master cylinder. As was already suggested, I think that you should have the truck towed to a repair shop.
              
              
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          Bad master cylinder or bad hydraulic brake booster.
              
              
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